diff --git a/urdf/diffbot.materials.xacro b/urdf/diffbot.materials.xacro
index 035bf58..7fdb6a1 100644
--- a/urdf/diffbot.materials.xacro
+++ b/urdf/diffbot.materials.xacro
@@ -6,35 +6,35 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 <robot>
 
   <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
+    <color rgba="0.0 0.0 0.0 1.0" />
   </material>
 
   <material name="blue">
-    <color rgba="0.0 0.0 0.8 1.0"/>
+    <color rgba="0.0 0.0 0.8 1.0" />
   </material>
 
   <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
+    <color rgba="0.0 0.8 0.0 1.0" />
   </material>
 
   <material name="grey">
-    <color rgba="0.2 0.2 0.2 1.0"/>
+    <color rgba="0.2 0.2 0.2 1.0" />
   </material>
 
   <material name="orange">
-    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+    <color rgba="${255/255} ${108/255} ${10/255} 1.0" />
   </material>
 
   <material name="brown">
-    <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
+    <color rgba="${222/255} ${207/255} ${195/255} 1.0" />
   </material>
 
   <material name="red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
+    <color rgba="0.8 0.0 0.0 1.0" />
   </material>
 
   <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
+    <color rgba="1.0 1.0 1.0 1.0" />
   </material>
 
-</robot>
+</robot>
\ No newline at end of file
diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 563d08e..dd0eab3 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -5,21 +5,26 @@
 
     <!-- Constants for robot dimensions -->
     <xacro:property name="PI" value="3.1415926535897931"/>
-    <xacro:property name="base_mass" value="0.3" />
-    <!-- arbitrary value for base mass -->
-    <xacro:property name="base_width" value="0.25" />
-    <!-- Updated wheel spacing to 25cm -->
+    <xacro:property name="base_mass" value="0.3" /> <!-- arbitrary value for base mass -->
+    <xacro:property name="base_width" value="0.25" /> <!-- Updated wheel spacing to 25cm -->
     <xacro:property name="base_length" value="0.34" />
     <xacro:property name="base_height" value="0.1" />
     <xacro:property name="wheel_mass" value="0.3" />
     <!-- arbitrary value for wheel mass -->
     <xacro:property name="wheel_len" value="0.020" />
     <xacro:property name="wheel_radius" value="0.0625" />
-    <xacro:property name="caster_wheel_mass" value="0.1" />
-    <!-- arbitrary value for caster wheel mass -->
+    <xacro:property name="caster_wheel_mass" value="0.1" /> <!-- arbitrary value for caster wheel mass -->
     <xacro:property name="caster_wheel_radius" value="0.04" />
-    <xacro:property name="z_offset" value="-${base_height/2}" />
-    <!-- Space btw top of beam and the each joint -->
+    <xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
+
+    <!-- dummy link - used for ros2 control so it stops complaining? -->
+    <link name="${prefix}dummy">
+    </link>
+
+    <joint name="${prefix}dummy_joint" type="fixed">
+      <parent link="${prefix}dummy" />
+      <child link="${prefix}base_link" />
+    </joint>
 
     <!-- Base Link -->
     <link name="${prefix}base_link">
@@ -133,9 +138,7 @@
         <geometry>
           <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl" />
         </geometry>
-        <material name="laser_frame_material">
-          <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
-        </material>
+        <material name="orange"/>
       </visual>
       <collision>
         <origin xyz="1.1834508674736059205e-16 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
@@ -148,9 +151,7 @@
         <geometry>
           <mesh filename="file://$(find bot_mini_description)/mesh/caster_angle.stl" />
         </geometry>
-        <material name="caster_angle_material">
-          <color rgba="0.64705882352941179736 0.64705882352941179736 0.64705882352941179736 1.0" />
-        </material>
+        <material name="black"/>
       </visual>
       <collision>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
@@ -165,14 +166,12 @@
       </inertial>
     </link>
 
-    <!-- right wheel joint -->
-    <joint name="${prefix}right_wheel_joint" type="revolute">
-      <origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" />
-      <parent link="${prefix}base_link" />
-      <child link="${prefix}right_wheel" />
-      <axis xyz="0 0 1" />
-      <limit effort="1" velocity="20" />
-      <joint_properties friction="0.0" />
+    <joint name="${prefix}right_wheel_joint" type="continuous">
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}right_wheel"/>
+      <origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
+      <axis xyz="0 -1 0"/>
+      <dynamics damping="0.2"/>
     </joint>
 
     <!-- right wheel Link -->
@@ -189,7 +188,7 @@
       <collision>
         <origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl" />
+          <cylinder length="${wheel_len}" radius="${wheel_radius}"/>
         </geometry>
       </collision>
       <inertial>
@@ -212,13 +211,11 @@
     <!-- left wheel Link -->
     <link name="${prefix}left_wheel">
       <visual>
-        <origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
+        <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl" />
+          <cylinder length="${wheel_len}" radius="${wheel_radius}"/>
         </geometry>
-        <material name="left_wheel_material">
-          <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
-        </material>
+        <material name="black"/>
       </visual>
       <collision>
         <origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
@@ -227,20 +224,19 @@
         </geometry>
       </collision>
       <inertial>
-        <origin xyz="1.3877787807814456755e-17 0 -0.017500000000000015543" rpy="0 0 0" />
-        <mass value="0.43298678305638949038" />
-        <inertia ixx="0.00043196650576949035269" ixy="1.4778173856800390343e-52" ixz="-4.8081924471597460774e-36" iyy="0.00043196650576949029848" iyz="0" izz="0.00078373880522818965139" />
+        <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
+        <mass value="${wheel_mass}"/>
+        <inertia
+          ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
+          iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
+          izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
       </inertial>
     </link>
 
-    <!-- caster wheel joint -->
-    <joint name="${prefix}caster_wheel_joint" type="revolute">
-      <origin xyz="5.3368019332749957491e-17 -0.29900000000000009903 -0.064999999999999974465" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-      <parent link="${prefix}base_link" />
-      <child link="${prefix}caster_wheel" />
-      <axis xyz="0 0 1" />
-      <limit effort="1" velocity="20" />
-      <joint_properties friction="0.0" />
+    <joint name="${prefix}caster_wheel_joint" type="fixed">
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}caster_wheel"/>
+      <origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
     </joint>
 
     <!-- caster wheel Link -->
@@ -300,19 +296,17 @@
         </material>
       </visual>
       <collision>
-        <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_top.stl" />
+          <sphere radius="${caster_wheel_radius}"/>
         </geometry>
       </collision>
       <visual>
-        <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_right.stl" />
+          <sphere radius="${caster_wheel_radius}"/>
         </geometry>
-        <material name="caster_frame_right_material">
-          <color rgba="0.90196078431372550543 0.90196078431372550543 0.90196078431372550543 1.0" />
-        </material>
+        <material name="white"/>
       </visual>
       <collision>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
@@ -321,69 +315,70 @@
         </geometry>
       </collision>
       <inertial>
-        <origin xyz="8.4447232280069085184e-18 -0.02637752354625919754 -0.040087257391101464854" rpy="0 0 0" />
-        <mass value="0.4365196214157913146" />
-        <inertia ixx="0.00065612682799630025251" ixy="2.4352197233561134748e-20" ixz="4.2351647362715016953e-20" iyy="0.0005155380872198755916" iyz="-0.00017138258993622224827" izz="0.00028021186492738366612" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="${caster_wheel_mass}"/>
+        <inertia
+              ixx="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
+              ixy="0.0" ixz="0.0"
+              iyy="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
+              iyz="0.0"
+              izz="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"/>
       </inertial>
     </link>
 
-    <!-- laser_link -->
-    <link name="${prefix}laser_link">
-      <visual>
-        <origin xyz="-4.1223423760908350982e-18 0.13500000000000000888 0.025000000000000001388" rpy="3.141592653589793116 -0 1.0263416486754026723e-48" />
-        <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl"/>
-        </geometry>
-        <material name="laser_frame_material">
-          <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="-4.1223423760908350982e-18 0.13500000000000000888 0.025000000000000001388" rpy="3.141592653589793116 -0 1.0263416486754026723e-48" />
-        <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <origin xyz="8.0502568807930242195e-21 5.5511151231257827021e-17 -0.015265498838362610845" rpy="0 0 0"/>
-        <mass value="0.065307030550339775776" />
-        <inertia ixx="1.578111853789072904e-05" ixy="-4.8590457654361857326e-53" ixz="1.0816309858643348454e-52" iyy="1.5781118537890654501e-05" iyz="9.8088682514084063618e-38" izz="1.9760068210357051077e-05" />
-      </inertial>
-    </link>
+      <!-- laser_link -->
+      <link name="${prefix}laser_link">
+        <collision>
+          <origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
+          <geometry>
+            <box size="0.1 0.1 0.1"/>
+          </geometry>
+        </collision>
 
-    <!-- Laser Joint -->
-    <joint name="${prefix}laser_joint" type="revolute">
-      <origin xyz="8.9609515272227915335e-17 -0.61400000000000021227 -0.019999999999999972661" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" />
-      <parent link="base_link" />
-      <child link="laser_link" />
-      <axis xyz="0 0 1"/>
-      <limit effort="1" velocity="20" />
-      <joint_properties friction="0.0"/>
-    </joint>
+        <visual>
+          <origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
+          <geometry>
+            <box size="0.1 0.1 0.1"/>
+          </geometry>
+          <material name="green"/>
+        </visual>
 
-    <!-- camera_link -->
-    <link name="${prefix}camera_link">
-      <visual>
-        <origin xyz="3.0814879110195773649e-32 0 0" rpy="-1.570796326794896558 2.775557561562890365e-16 -9.2444637330585569324e-33" />
-        <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/camera_frame.stl"/>
-        </geometry>
-        <material name="hikvision_ds-u02_material">
-          <color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="3.0814879110195773649e-32 0 0" rpy="-1.570796326794896558 2.775557561562890365e-16 -9.2444637330585569324e-33" />
-        <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/camera_frame.stl"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <origin xyz="5.3378961738545780533e-07 0.0016484827975361904598 -0.020840554768345873754" rpy="0 0 0"/>
-        <mass value="0.064008494238512375629" />
-        <inertia ixx="1.7394518695567359414e-05" ixy="-4.8731789985706151619e-10" ixz="-1.7982620680951681188e-11" iyy="3.2074360900148983727e-05" iyz="2.0892555595878115295e-06" izz="2.8321439372619351021e-05" />
-      </inertial>
-    </link>
+        <inertial>
+          <origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
+          <mass value="0.1"/>
+          <inertia
+            ixx="0.001" ixy="0.0" ixz="0.0"
+            iyy="0.001" iyz="0.0"
+            izz="0.001"/>
+        </inertial>
+      </link>
+
+      <!-- camera_link -->
+      <link name="${prefix}camera_link">
+        <collision>
+          <origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
+          <geometry>
+            <box size="0.1 0.1 0.1"/>
+          </geometry>
+        </collision>
+
+        <visual>
+          <origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
+          <geometry>
+            <box size="0.1 0.1 0.1"/>
+          </geometry>
+          <material name="blue"/>
+        </visual>
+
+        <inertial>
+          <origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
+          <mass value="0.1"/>
+          <inertia
+            ixx="0.001" ixy="0.0" ixz="0.0"
+            iyy="0.001" iyz="0.0"
+            izz="0.001"/>
+        </inertial>
+      </link>
 
     <!-- Camera Joint -->
     <joint name="${prefix}camera_joint" type="revolute">
@@ -396,7 +391,4 @@
     </joint>
 
   </xacro:macro>
-</robot>
-
-
-
+</robot>
\ No newline at end of file
diff --git a/urdf/odrive.ros2_control.xacro b/urdf/odrive.ros2_control.xacro
index e3007e3..0a15982 100644
--- a/urdf/odrive.ros2_control.xacro
+++ b/urdf/odrive.ros2_control.xacro
@@ -34,4 +34,4 @@
 
   </xacro:macro>
 
-</robot>
+</robot>
\ No newline at end of file
diff --git a/urdf/odrive.urdf.xacro b/urdf/odrive.urdf.xacro
index c5a3cca..08acbad 100644
--- a/urdf/odrive.urdf.xacro
+++ b/urdf/odrive.urdf.xacro
@@ -11,18 +11,18 @@
   <xacro:if value="$(arg enable_joint0)">
     <link name="link0" />
     <joint name="joint0" type="continuous">
-      <parent link="world"/>
-      <child link="link0"/>
-      <axis xyz="0 0 1"/>
+      <parent link="world" />
+      <child link="link0" />
+      <axis xyz="0 0 1" />
     </joint>
   </xacro:if>
 
   <xacro:if value="$(arg enable_joint1)">
     <link name="link1" />
     <joint name="joint1" type="continuous">
-      <parent link="world"/>
-      <child link="link1"/>
-      <axis xyz="0 0 1"/>
+      <parent link="world" />
+      <child link="link1" />
+      <axis xyz="0 0 1" />
     </joint>
   </xacro:if>
 
@@ -31,4 +31,4 @@
     enable_joint0="$(arg enable_joint0)"
     enable_joint1="$(arg enable_joint1)" />
 
-</robot>
+</robot>
\ No newline at end of file
diff --git a/urdf/odrive_diffbot.urdf.xacro b/urdf/odrive_diffbot.urdf.xacro
index adc05cd..b5db85a 100644
--- a/urdf/odrive_diffbot.urdf.xacro
+++ b/urdf/odrive_diffbot.urdf.xacro
@@ -16,4 +16,4 @@
     joint0_name="$(arg prefix)left_wheel_joint"
     joint1_name="$(arg prefix)right_wheel_joint" />
 
-</robot>
+</robot>
\ No newline at end of file