diff --git a/include/urdf_geometry_parser/urdf_geometry_parser.h b/include/urdf_geometry_parser/urdf_geometry_parser.h
index f4abb45..5291597 100644
--- a/include/urdf_geometry_parser/urdf_geometry_parser.h
+++ b/include/urdf_geometry_parser/urdf_geometry_parser.h
@@ -78,6 +78,24 @@ class UrdfGeometryParser {
   bool getJointRadius(const std::string& joint_name,
                                 double& radius);
 
+  /**
+   * \brief Get link collision geometry from the URDF
+   * \param link_name Name of the link
+   * \param geometry Geometry of the link
+   * \return true if the geometry was found; false otherwise
+   */
+  bool getLinkCollisionGeometry(const std::string& link_name,
+                                urdf::GeometrySharedPtr& geometry);
+
+  /**
+   * \brief Get link visual geometry from the URDF
+   * \param link_name Name of the link
+   * \param geometry Geometry of the link
+   * \return true if the geometry was found; false otherwise
+   */
+  bool getLinkVisualGeometry(const std::string& link_name,
+                             urdf::GeometrySharedPtr& geometry);
+
   /**
    * \brief Get joint steering limit from the URDF
    *        considering the upper and lower limit is the same
diff --git a/src/urdf_geometry_parser.cpp b/src/urdf_geometry_parser.cpp
index c375673..e5bd9b0 100644
--- a/src/urdf_geometry_parser.cpp
+++ b/src/urdf_geometry_parser.cpp
@@ -53,19 +53,19 @@ namespace urdf_geometry_parser{
 
     if (!link->collision)
     {
-      ROS_ERROR_STREAM("Link " << link->name << " does not have collision description. Add collision description for link to urdf.");
+      ROS_WARN_STREAM("Link " << link->name << " does not have collision description. Add collision description for link to urdf.");
       return false;
     }
 
     if (!link->collision->geometry)
     {
-      ROS_ERROR_STREAM("Link " << link->name << " does not have collision geometry description. Add collision geometry description for link to urdf.");
+      ROS_WARN_STREAM("Link " << link->name << " does not have collision geometry description. Add collision geometry description for link to urdf.");
       return false;
     }
 
     if (link->collision->geometry->type != urdf::Geometry::CYLINDER)
     {
-      ROS_ERROR_STREAM("Link " << link->name << " does not have cylinder geometry");
+      ROS_WARN_STREAM("Link " << link->name << " does not have cylinder geometry");
       return false;
     }
 
@@ -82,7 +82,7 @@ namespace urdf_geometry_parser{
   {
     if (!isCylinder(wheel_link))
     {
-      ROS_ERROR_STREAM("Wheel link " << wheel_link->name << " is NOT modeled as a cylinder!");
+      ROS_WARN_STREAM("Wheel link " << wheel_link->name << " is NOT modeled as a cylinder!");
       return false;
     }
 
@@ -100,13 +100,13 @@ namespace urdf_geometry_parser{
     std::string robot_model_str="";
     if (!res || !root_nh.getParam(model_param_name,robot_model_str))
     {
-      ROS_ERROR("Robot descripion couldn't be retrieved from param server.");
+      ROS_ERROR("Robot description couldn't be retrieved from param server.");
     }
     else
     {
       model_ = urdf::parseURDF(robot_model_str);
       if(!model_)
-        ROS_ERROR_STREAM("Could not parse the urdf robot model "<<model_param_name);
+        ROS_ERROR_STREAM("Could not parse the URDF robot model "<<model_param_name);
     }
   }
 
@@ -178,6 +178,62 @@ namespace urdf_geometry_parser{
       return false;
   }
 
+  bool UrdfGeometryParser::getLinkCollisionGeometry(const std::string& link_name,
+                                                    urdf::GeometrySharedPtr& geometry)
+  {
+    if(model_)
+    {
+      urdf::LinkConstSharedPtr link(model_->getLink(link_name));
+      if (!link)
+      {
+        ROS_ERROR_STREAM(link_name << " couldn't be retrieved from model description");
+        return false;
+      }
+      if (!link->collision)
+      {
+        ROS_WARN_STREAM("Link " << link_name << " does not have collision description");
+        return false;
+      }
+      if (!link->collision->geometry)
+      {
+        ROS_WARN_STREAM("Link " << link_name << " does not have collision geometry description");
+        return false;
+      }
+      geometry = link->collision->geometry;
+      return true;
+    }
+    else
+      return false;
+  }
+
+  bool UrdfGeometryParser::getLinkVisualGeometry(const std::string& link_name,
+                                                 urdf::GeometrySharedPtr& geometry)
+  {
+    if(model_)
+    {
+      urdf::LinkConstSharedPtr link(model_->getLink(link_name));
+      if (!link)
+      {
+        ROS_ERROR_STREAM(link_name << " couldn't be retrieved from model description");
+        return false;
+      }
+      if (!link->visual)
+      {
+        ROS_WARN_STREAM("Link " << link_name << " does not have visual description");
+        return false;
+      }
+      if (!link->visual->geometry)
+      {
+        ROS_WARN_STREAM("Link " << link_name << " does not have visual geometry description");
+        return false;
+      }
+      geometry = link->visual->geometry;
+      return true;
+    }
+    else
+      return false;
+  }
+
   bool UrdfGeometryParser::getJointSteeringLimits(const std::string& joint_name,
                               double& steering_limit)
   {