diff --git a/description/robot.urdf.xacro b/description/robot.urdf.xacro
index 8cecffc..743a1b7 100644
--- a/description/robot.urdf.xacro
+++ b/description/robot.urdf.xacro
@@ -12,7 +12,7 @@
     <xacro:unless value="$(arg use_ros2_control)">
         <xacro:include filename="gazebo_control.xacro" />
     </xacro:unless>
-    <xacro:include filename="lidar.xacro" />
+    <!-- <xacro:include filename="lidar.xacro" /> -->
     <xacro:include filename="camera.xacro" />
     <!-- <xacro:include filename="depth_camera.xacro" /> -->
 
diff --git a/description/robot_core.xacro b/description/robot_core.xacro
index 03dccdc..e1749f4 100644
--- a/description/robot_core.xacro
+++ b/description/robot_core.xacro
@@ -210,7 +210,7 @@
     </joint>
 
 
-    <link name="caster_wheel">
+    <link name="laser_frame">
         <visual>
             <geometry>
                 <sphere radius="${caster_wheel_radius}"/>
@@ -227,7 +227,7 @@
         </xacro:inertial_sphere>
     </link>
 
-    <gazebo reference="caster_wheel">
+    <gazebo reference="laser_frame">
         <material>Gazebo/White</material>
         <mu1 value="0.001"/>
         <mu2 value="0.001"/>