diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index 5e84004..9a0cee6 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -37,6 +37,9 @@ endif(APPLE)
 rosbuild_add_executable(check_urdf src/check_urdf.cpp)
 target_link_libraries(check_urdf ${PROJECT_NAME})
 
+rosbuild_add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
+target_link_libraries(urdf_to_graphiz ${PROJECT_NAME})
+
 rosbuild_add_executable(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
 target_link_libraries(test_parser ${PROJECT_NAME})
 rosbuild_add_gtest_build_flags(test_parser)
diff --git a/urdf/src/urdf_to_graphiz.cpp b/urdf/src/urdf_to_graphiz.cpp
new file mode 100644
index 0000000..1e6edb3
--- /dev/null
+++ b/urdf/src/urdf_to_graphiz.cpp
@@ -0,0 +1,133 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+* 
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+* 
+*   * Redstributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+* 
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Wim Meeussen */
+
+#include "urdf_parser/urdf_parser.h"
+#include "collada_parser/collada_parser.h"
+#include <iostream>
+#include <fstream>
+
+using namespace urdf;
+using namespace std;
+
+void addChildLinkNames(boost::shared_ptr<const Link> link, ofstream& os)
+{
+  os << "\"" << link->name << "\" [label=\"" << link->name << "\"];" << endl;
+  for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
+    addChildLinkNames(*child, os);
+}
+
+void addChildJointNames(boost::shared_ptr<const Link> link, ofstream& os)
+{
+  double r, p, y;
+  for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
+    (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y);
+    os << "\"" << link->name << "\" -> \"" << (*child)->parent_joint->name 
+       << "\" [label=\"xyz: "
+       << (*child)->parent_joint->parent_to_joint_origin_transform.position.x << " " 
+       << (*child)->parent_joint->parent_to_joint_origin_transform.position.y << " " 
+       << (*child)->parent_joint->parent_to_joint_origin_transform.position.z << " " 
+       << "\\nrpy: " << r << " " << p << " " << y << "\"]" << endl;
+    os << "\"" << (*child)->parent_joint->name << "\" -> \"" << (*child)->name << "\"" << endl;
+    addChildJointNames(*child, os);
+  }
+}
+
+
+void printTree(boost::shared_ptr<const Link> link, string file)
+{
+  std::ofstream os;
+  os.open(file.c_str());
+  os << "digraph G {" << endl;
+
+  os << "node [shape=box];" << endl;
+  addChildLinkNames(link, os);
+
+  os << "node [shape=ellipse, color=blue, fontcolor=blue];" << endl;
+  addChildJointNames(link, os);
+
+  os << "}" << endl;
+  os.close();
+}
+
+
+
+int main(int argc, char** argv)
+{
+  if (argc != 2){
+    std::cerr << "Usage: urdf_to_graphiz input.xml" << std::endl;
+    return -1;
+  }
+
+  // get the entire file
+  std::string xml_string;
+  std::fstream xml_file(argv[1], std::fstream::in);
+  while ( xml_file.good() )
+  {
+    std::string line;
+    std::getline( xml_file, line);
+    xml_string += (line + "\n");
+  }
+  xml_file.close();
+
+  boost::shared_ptr<ModelInterface> robot;
+  if( xml_string.find("<COLLADA") != std::string::npos )
+    {
+      ROS_DEBUG("Parsing robot collada xml string");
+      robot = parseCollada(xml_string);
+    }
+  else
+    {
+      ROS_DEBUG("Parsing robot urdf xml string");
+      robot = parseURDF(xml_string);
+    }
+  if (!robot){
+    std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
+    return -1;
+  }
+  string output = robot->getName();
+
+  // print entire tree to file
+  printTree(robot->getRoot(), output+".gv");
+  cout << "Created file " << output << ".gv" << endl;
+
+  string command = "dot -Tpdf "+output+".gv  -o "+output+".pdf";
+  if (system(command.c_str()) != -1)
+    cout << "Created file " << output << ".pdf" << endl;
+  else
+    cout << "There was an error executing '" << command << "'" << endl;
+  return 0;
+}
+