diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index 6811e92..4b76086 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -228,12 +228,12 @@
 
     <joint name="laser_joint" type="fixed">
         <parent link="chassis"/>
-        <child link="laser_frame"/>
+        <child link="laser"/>
         <origin xyz="${chassis_length/2 - 0.15285} 0 ${chassis_height/2 + 0.030}" rpy="0 0 ${pi}"/>
     </joint>
 
 
-    <link name="laser_frame">
+    <link name="laser">
         <visual>
             <geometry>
                 <cylinder radius="0.04" length="0.05"/>
@@ -250,8 +250,32 @@
         </xacro:inertial_sphere>
     </link>
 
-    <gazebo reference="laser_frame">
+    <gazebo reference="laser">
         <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