diff --git a/description/imu.xacro b/description/imu.xacro
index 781d257..fb1b7d4 100755
--- a/description/imu.xacro
+++ b/description/imu.xacro
@@ -7,11 +7,11 @@
         <origin xyz="${chassis_length/2 - 0.15285} 0 0" rpy="0 0 0"/>
     </joint>
 
-    <link name="imu_link">
+    <link name="imu">
 
     </link>
 
-    <gazebo reference="imu_link">
+    <gazebo reference="imu">
         <material>Gazebo/Black</material>
     </gazebo>
 
diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index 4b76086..08a47e3 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -254,28 +254,4 @@
         <material>Gazebo/White</material>
     </gazebo>
 
-    <joint name="imu_joint" type="fixed">
-        <parent link="chassis"/>
-        <child link="imu"/>
-        <origin xyz="${chassis_length/2 - 0.15285} 0 ${chassis_height/2 + 0.030}" rpy="0 0 ${pi}"/>
-    </joint>
-
-
-    <link name="imu">
-        <visual>
-            <geometry>
-                <cylinder radius="0.04" length="0.05"/>
-            </geometry>
-            <material name="black"/>
-        </visual>
-        <collision>
-            <geometry>
-                <sphere radius="${caster_wheel_radius}"/>
-            </geometry>
-        </collision>
-        <xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
-            <origin xyz="0 0 0" rpy="0 0 0"/>
-        </xacro:inertial_sphere>
-    </link>
-
 </robot>
\ No newline at end of file