diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index c2e319b..d780243 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -58,20 +58,30 @@
 
     <!-- BASE LINK -->
 
-    <link name="base_link">
-    </link>
+    <!-- <link name="base_link">
+    </link> -->
 
     <!-- BASE_FOOTPRINT LINK -->
 
-    <joint name="base_footprint_joint" type="fixed">
+    <!-- <joint name="base_footprint_joint" type="fixed">
         <parent link="base_link"/>
         <child link="base_footprint"/>
         <origin xyz="0 0 0" rpy="0 0 0"/>
-    </joint>
+    </joint> -->
 
     <link name="base_footprint">
     </link>
 
+    <!-- BASE LINK -->
+
+    <joint name="base_link_joint" type="fixed">
+        <parent link="base_footprint"/>
+        <child link="base_link"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <link name="base_link">
+    </link>
 
     <!-- CHASSIS LINK -->
 
diff --git a/launch/gmapping.launch b/launch/gmapping.launch
new file mode 100644
index 0000000..e69de29