diff --git a/README.md b/README.md
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+++ b/README.md
@@ -6,5 +6,8 @@ See the ROS wiki for API documentation and tutorials.
 * [`urdf`](http://wiki.ros.org/urdf)
 * [`urdf_parser_plugin`](http://wiki.ros.org/urdf_parser_plugin)
 
-This was originally part of the [`ros/robot_model`](https://github.com/ros/robot_model) repository.
-It has been moved to this repo as described by [`ros/robot_model#195`](https://github.com/ros/robot_model/issues/195)
+# URDF Ecosystem
+![urdf_diagram](urdf/documentation/urdf_diagram.png)
+
+These packages were originally part of the [`ros/robot_model`](https://github.com/ros/robot_model) repository.
+They have been moved to this repo as described by [`ros/robot_model#195`](https://github.com/ros/robot_model/issues/195)
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