diff --git a/README.md b/README.md
index 8c9b6bb9..2bd2f5fb 100644
--- a/README.md
+++ b/README.md
@@ -994,7 +994,7 @@ of the point cloud in a target coordinate frame.
 
 The URDF or the underlying macro can be included in your own project.
 
-To view the Zivid 2, Zivid 2+, or Zivid 2+R cameras in RViz:
+To view the Zivid 2, Zivid 2+, Zivid 2+R, or Zivid 3 cameras in RViz:
 ```
 ros2 launch zivid_samples zivid_camera_with_rviz.launch model:=ZIVID_2_M70 field_of_view:=true
 ```
@@ -1017,6 +1017,7 @@ The available Zivid camera models are:
 - `ZIVID_2_PLUS_LR110`
 - `ZIVID_2_PLUS_MR130`
 - `ZIVID_2_PLUS_MR60`
+- `ZIVID_3_XL250`
 
 ## Frequently Asked Questions
 
diff --git a/zivid_description/meshes/collision/zivid_3_convex_hull.stl b/zivid_description/meshes/collision/zivid_3_convex_hull.stl
new file mode 100644
index 00000000..6301e51b
Binary files /dev/null and b/zivid_description/meshes/collision/zivid_3_convex_hull.stl differ
diff --git a/zivid_description/meshes/field_of_view/zivid_3_xl250_fov.stl b/zivid_description/meshes/field_of_view/zivid_3_xl250_fov.stl
new file mode 100644
index 00000000..7d38ff94
Binary files /dev/null and b/zivid_description/meshes/field_of_view/zivid_3_xl250_fov.stl differ
diff --git a/zivid_description/meshes/visual/zivid_3.stl b/zivid_description/meshes/visual/zivid_3.stl
new file mode 100644
index 00000000..1b1f7935
Binary files /dev/null and b/zivid_description/meshes/visual/zivid_3.stl differ
diff --git a/zivid_description/urdf/macros/zivid_camera.xacro b/zivid_description/urdf/macros/zivid_camera.xacro
index ae81b003..ab1a8fd3 100644
--- a/zivid_description/urdf/macros/zivid_camera.xacro
+++ b/zivid_description/urdf/macros/zivid_camera.xacro
@@ -7,6 +7,8 @@
 
     <xacro:macro name="zivid_camera" params="prefix model field_of_view">
         <xacro:property name="fov_filename" value="" />
+        <xacro:property name="visual_mesh" value="zivid_2_plus.stl" />
+        <xacro:property name="collision_mesh" value="zivid_2_plus_convex_hull.stl" />
 
         <xacro:if value="${model == 'ZIVID_2_M70'}">
             <xacro:property name="optical_center" value="0.04802 0.03084 0.0295" />
@@ -48,6 +50,13 @@
             <xacro:property name="optical_angle_deg" value="0.0" />
             <xacro:property name="fov_filename" value="zivid_2_plus_m130_fov" />
         </xacro:if>
+        <xacro:if value="${model == 'ZIVID_3_XL250'}">
+            <xacro:property name="optical_center" value="0.047 0.10050 0.0365" />
+            <xacro:property name="optical_angle_deg" value="0.0" />
+            <xacro:property name="fov_filename" value="zivid_3_xl250_fov" />
+            <xacro:property name="visual_mesh" value="zivid_3.stl" />
+            <xacro:property name="collision_mesh" value="zivid_3_convex_hull.stl" />
+        </xacro:if>
 
         <!-- Make xacro error out if the provided camera model was not recognized -->
         <xacro:if value="${fov_filename == ''}">
@@ -60,7 +69,7 @@
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 ${0.5*pi}"/>
                 <geometry>
-                    <mesh filename="package://zivid_description/meshes/visual/zivid_2_plus.stl"/>
+                    <mesh filename="package://zivid_description/meshes/visual/${visual_mesh}"/>
                 </geometry>
                 <material name="zivid_gray"/>
             </visual>
@@ -69,7 +78,7 @@
             <collision>
                 <origin xyz="0 0 0" rpy="0 0 ${0.5*pi}"/>
                 <geometry>
-                    <mesh filename="package://zivid_description/meshes/collision/zivid_2_plus_convex_hull.stl"/>
+                    <mesh filename="package://zivid_description/meshes/collision/${collision_mesh}"/>
                 </geometry>
             </collision>
         </link>