diff --git a/src/sherpa/config/ackermann_controller.yaml b/src/sherpa/config/ackermann_controller.yaml
index 7a61da6..5ce5295 100644
--- a/src/sherpa/config/ackermann_controller.yaml
+++ b/src/sherpa/config/ackermann_controller.yaml
@@ -26,7 +26,7 @@ ackermann_controller:
     rear_wheels_radius: 0.15  # Radius of wheels [m]
 
     # Limits
-    max_steering_angle: 0.785  # [rad] ~45 degrees
+    max_steering_angle: 1.0  # [rad] ~45 degrees
     max_speed: 10.0            # [m/s]
     min_speed: -5.0            # [m/s]
 
diff --git a/src/sherpa/urdf/sherpa.xacro b/src/sherpa/urdf/sherpa.xacro
index dbd2d9c..9a47598 100644
--- a/src/sherpa/urdf/sherpa.xacro
+++ b/src/sherpa/urdf/sherpa.xacro
@@ -25,7 +25,7 @@
     <xacro:include filename="components/wheel.xacro"/>
     <xacro:include filename="components/ouster_lidar.xacro"/>
 
-    <xacro:camera name="front_camera" parent="base" xyz="0 0 0.75" rpy="0 0 0" frequency="30" fov="90" topic="/front_camera"/>
+    <xacro:camera name="front_camera" parent="base" xyz="0 0 0.75" rpy="0 0 0" frequency="30" fov="120" topic="/front_camera"/>
     <xacro:imu name="imu" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" frequency="300" topic="/imu"/>
     <xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" model="vlp16" frequency="10" topic="/velodyne_points"/>