diff --git a/src/sherpa/urdf/sherpa.urdf b/src/sherpa/urdf/sherpa.urdf
index 2612651..9e5119c 100644
--- a/src/sherpa/urdf/sherpa.urdf
+++ b/src/sherpa/urdf/sherpa.urdf
@@ -131,7 +131,7 @@
           <ode>
             <mu>1.2</mu>
             <mu2>0</mu2>
-            <fdir1 gz:expressed_in="base">1 1 0</fdir1>
+            <fdir1 gz:expressed_in="base_link">1 1 0</fdir1>
           </ode>
         </friction>
       </surface>
@@ -165,7 +165,7 @@
           <ode>
             <mu>1.2</mu>
             <mu2>0</mu2>
-            <fdir1 gz:expressed_in="base">1 -1 0</fdir1>
+            <fdir1 gz:expressed_in="base_link">1 -1 0</fdir1>
           </ode>
         </friction>
       </surface>
@@ -199,7 +199,7 @@
           <ode>
             <mu>1.2</mu>
             <mu2>0</mu2>
-            <fdir1 gz:expressed_in="base">1 -1 0</fdir1>
+            <fdir1 gz:expressed_in="base_link">1 -1 0</fdir1>
           </ode>
         </friction>
       </surface>
@@ -233,7 +233,7 @@
           <ode>
             <mu>1.2</mu>
             <mu2>0</mu2>
-            <fdir1 gz:expressed_in="base">1 1 0</fdir1>
+            <fdir1 gz:expressed_in="base_link">1 1 0</fdir1>
           </ode>
         </friction>
       </surface>
@@ -246,17 +246,25 @@
     <limit effort="100000" velocity="5"/>
     <origin rpy="0 0 0" xyz="-0.11  0.11 0"/>
   </joint>
-  <gazebo>
-    <plugin filename="gz-sim-mecanum-drive-system" name="gz::sim::systems::MecanumDrive">
-      <front_left_joint>wheel_fl_joint</front_left_joint>
-      <front_right_joint>wheel_fr_joint</front_right_joint>
-      <back_left_joint>wheel_bl_joint</back_left_joint>
-      <back_right_joint>wheel_br_joint</back_right_joint>
-      <wheel_separation>0.22</wheel_separation>
-      <wheelbase>0.22</wheelbase>
-      <wheel_radius>0.04</wheel_radius>
-      <min_acceleration>-5</min_acceleration>
-      <max_acceleration>5</max_acceleration>
-    </plugin>
-  </gazebo>
+  <ros2_control name="SherpaSystem" type="system">
+    <hardware>
+      <plugin>ros2_control/GenericSystemInterface</plugin>
+    </hardware>
+    <joint name="wheel_fl_joint">
+      <command_interface name="velocity"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="wheel_fr_joint">
+      <command_interface name="velocity"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="wheel_bl_joint">
+      <command_interface name="velocity"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="wheel_br_joint">
+      <command_interface name="velocity"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </ros2_control>
 </robot>