diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index b2b03af..03dccdc 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -178,6 +178,38 @@
     </joint>
 
 
+    <link name="caster_wheel">
+        <visual>
+            <geometry>
+                <sphere radius="${caster_wheel_radius}"/>
+            </geometry>
+            <material name="white"/>
+        </visual>
+        <collision>
+            <geometry>
+                <sphere radius="${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>
+
+    <gazebo reference="caster_wheel">
+        <material>Gazebo/White</material>
+        <mu1 value="0.001"/>
+        <mu2 value="0.001"/>
+    </gazebo>
+
+    <!-- Lidar LINK -->
+
+    <joint name="lidar_joint" type="fixed">
+        <parent link="chassis"/>
+        <child link="laser_frame"/>
+        <origin xyz="-150 0 30"/>
+    </joint>
+
+
     <link name="caster_wheel">
         <visual>
             <geometry>
diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py
index 3b23bc5..3938e49 100644
--- a/launch/robot_joystick.launch.py
+++ b/launch/robot_joystick.launch.py
@@ -43,93 +43,5 @@ def generate_launch_description():
             description='Use sim time if true'),
         joy_node,
         teleop_node,
-    ])
-
-def generate_launch_description():
-    robot_description_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("bot_mini_description"),
-                    "urdf",
-                    "odrive_diffbot.urdf.xacro"
-                ]
-            ),
-        ]
-    )
-    robot_description = {"robot_description": ParameterValue(robot_description_content, value_type=str)}
-
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare("bot_mini_bringup"),
-            "config",
-            "diffbot_controllers.yaml",
-        ]
-    )
-
-    control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
-        output="both",
-    )
-
-    robot_state_pub_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        output="both",
-        parameters=[robot_description],
-    )
-
-    joint_state_broadcaster_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["joint_state_broadcaster", "-c", "/controller_manager"],
-    )
-
-    robot_controller_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["diffbot_base_controller", "-c", "/controller_manager"],
-    )
-
-    joystick_spawner = Node(
-        package="joy",
-        executable="joy_node"
-    )
-
-    teleop_spawner = Node(
-        package="rmp220_teleop",
-        executable="rmp220_teleop",
-        remappings=[('/diffbot_base_controller/cmd_vel_unstamped','/cmd_vel_joy')]
-    )
-
-    cam_node = Node(
-        package="ros2_cam_openCV",
-        executable="cam_node"
-    )
-
-    lidar_dir = os.path.join(get_package_share_directory('lslidar_driver'), 'params', 'lsx10.yaml')         
-    lidar_node = LifecycleNode(
-        package='lslidar_driver',
-        executable='lslidar_driver_node',
-        name='lslidar_driver_node',
-        output='screen',
-        emulate_tty=True,
-        namespace='',
-        parameters=[lidar_dir],
-    )
-
-    twist_mux_params = os.path.join(get_package_share_directory('bot_mini_bringup'),'config','twist_mux.yaml')
-    twist_mux = Node(
-            package="twist_mux",
-            executable="twist_mux",
-            parameters=[twist_mux_params, {'use_sim_time': False}],
-            remappings=[('/cmd_vel_out','/diffbot_base_controller/cmd_vel_unstamped')]
-        )
-
-    return LaunchDescription([
         twist_mux
     ])
\ No newline at end of file