diff --git a/lib/linguist/languages.yml b/lib/linguist/languages.yml
index daef0e24..f35c057b 100644
--- a/lib/linguist/languages.yml
+++ b/lib/linguist/languages.yml
@@ -1611,6 +1611,7 @@ XML:
   - .grxml
   - .jelly
   - .kml
+  - .launch
   - .mxml
   - .plist
   - .pluginspec
@@ -1620,6 +1621,7 @@ XML:
   - .rdf
   - .rss
   - .scxml
+  - .srdf
   - .svg
   - .tmCommand
   - .tmLanguage
@@ -1628,12 +1630,14 @@ XML:
   - .tmTheme
   - .tml
   - .ui
+  - .urdf
   - .vxml
   - .wsdl
   - .wxi
   - .wxl
   - .wxs
   - .x3d
+  - .xacro
   - .xaml
   - .xlf
   - .xliff
@@ -1686,6 +1690,7 @@ YAML:
   primary_extension: .yml
   extensions:
   - .reek
+  - .rviz
   - .yaml
 
 eC: