diff --git a/src/sherpa/config/ackermann_controller.yaml b/src/sherpa/config/ackermann_controller.yaml
index 85a353a..7a61da6 100644
--- a/src/sherpa/config/ackermann_controller.yaml
+++ b/src/sherpa/config/ackermann_controller.yaml
@@ -15,8 +15,8 @@ ackermann_controller:
     position_feedback: false
 
     # Interfaces
-    rear_wheels_names: ["wheel_bl_joint", "wheel_br_joint"]
-    front_wheels_names:  ["steer_fl_joint", "steer_fr_joint"]
+    rear_wheels_names: ["wheel_br_joint", "wheel_bl_joint"]
+    front_wheels_names:  ["steer_fr_joint", "steer_fl_joint"]
 
     # Physical parameters
     wheelbase: 0.6                # Distance between front and rear axles [m]
diff --git a/src/sherpa/launch/simulator.launch.py b/src/sherpa/launch/simulator.launch.py
index d0f9168..4e85f23 100644
--- a/src/sherpa/launch/simulator.launch.py
+++ b/src/sherpa/launch/simulator.launch.py
@@ -69,7 +69,7 @@ def generate_launch_description():
             '0', '0', '0',
             '0', '0', '0',
             'velodyne',
-            'base_link',
+            'lidar_link',
         ]          
     )
 
@@ -78,7 +78,7 @@ def generate_launch_description():
             'ros2', 'run', 'ros_gz_sim', 'create',
             '-name', 'sherpa',
             '-topic', 'robot_description',
-            '-x', '0', '-y', '0', '-z', '0.5'
+            '-x', '0', '-y', '0', '-z', '26'
         ],
         #output='screen'
     )
diff --git a/src/sherpa/urdf/sherpa.xacro b/src/sherpa/urdf/sherpa.xacro
index 3f43762..c0f4349 100644
--- a/src/sherpa/urdf/sherpa.xacro
+++ b/src/sherpa/urdf/sherpa.xacro
@@ -24,8 +24,8 @@
     <xacro:include filename="components/wheel.xacro"/>
     <xacro:include filename="components/ouster_lidar.xacro"/>
 
-    <xacro:imu name="imu" parent="base" xyz="0 0 0.156" rpy="0 0 0" frequency="300"/>
-    <xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0 0" model="OS1" frequency="10" topic="/points"/>
+    <xacro:imu name="imu" parent="base" xyz="0 0 0.35" rpy="0 0 0" frequency="300"/>
+    <xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0 0" model="vlp16" frequency="10" topic="/points"/>
 
     <link name="steer_fl_link">
         <inertial>
diff --git a/src/sherpa/worlds/raceway.world b/src/sherpa/worlds/raceway.world
index 35d4239..781ce53 100644
--- a/src/sherpa/worlds/raceway.world
+++ b/src/sherpa/worlds/raceway.world
@@ -13,6 +13,9 @@
       name="ignition::gazebo::systems::Sensors">
       <render_engine>ogre2</render_engine>
     </plugin>
+    <plugin filename="gz-sim-imu-system"
+        name="gz::sim::systems::Imu">
+    </plugin>
     <plugin
       filename="ignition-gazebo-user-commands-system"
       name="ignition::gazebo::systems::UserCommands">