diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index bd0ea0e..ece16d7 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -70,7 +70,7 @@
     </gazebo>
 
     <!-- RIGHT WHEEL -->
-    <joint name="${prefix}right_wheel_joint" type="continuous">
+    <joint name="${prefix}right_wheel_joint" type="fixed">
         <parent link="${prefix}chassis"/>
         <child link="${prefix}right_wheel"/>
         <origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
@@ -101,7 +101,7 @@
     </gazebo>
 
     <!-- LEFT WHEEL -->
-    <joint name="${prefix}left_wheel_joint" type="continuous">
+    <joint name="${prefix}left_wheel_joint" type="fixed">
         <parent link="${prefix}chassis"/>
         <child link="${prefix}left_wheel"/>
         <origin xyz="${chassis_length/2 - chassis_offset} ${wheel_offset_y + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />