diff --git a/agv_pro_description/meshes/base_link.stl b/agv_pro_description/meshes/base_link.stl
index 39f6222..88caa0a 100755
Binary files a/agv_pro_description/meshes/base_link.stl and b/agv_pro_description/meshes/base_link.stl differ
diff --git a/agv_pro_description/meshes/laser_link.stl b/agv_pro_description/meshes/laser_link.stl
new file mode 100755
index 0000000..70da241
Binary files /dev/null and b/agv_pro_description/meshes/laser_link.stl differ
diff --git a/agv_pro_description/meshes/left_front_wheel.stl b/agv_pro_description/meshes/left_front_wheel.stl
deleted file mode 100755
index baa666f..0000000
Binary files a/agv_pro_description/meshes/left_front_wheel.stl and /dev/null differ
diff --git a/agv_pro_description/meshes/left_rear_wheel.stl b/agv_pro_description/meshes/left_rear_wheel.stl
deleted file mode 100755
index baa666f..0000000
Binary files a/agv_pro_description/meshes/left_rear_wheel.stl and /dev/null differ
diff --git a/agv_pro_description/meshes/lidar.stl b/agv_pro_description/meshes/lidar.stl
deleted file mode 100755
index c4850e7..0000000
Binary files a/agv_pro_description/meshes/lidar.stl and /dev/null differ
diff --git a/agv_pro_description/meshes/right_front_wheel.stl b/agv_pro_description/meshes/right_front_wheel.stl
deleted file mode 100755
index baa666f..0000000
Binary files a/agv_pro_description/meshes/right_front_wheel.stl and /dev/null differ
diff --git a/agv_pro_description/meshes/right_rear_wheel.stl b/agv_pro_description/meshes/right_rear_wheel.stl
deleted file mode 100755
index baa666f..0000000
Binary files a/agv_pro_description/meshes/right_rear_wheel.stl and /dev/null differ
diff --git a/agv_pro_description/meshes/wheel_lb_link.stl b/agv_pro_description/meshes/wheel_lb_link.stl
new file mode 100755
index 0000000..cd2c057
Binary files /dev/null and b/agv_pro_description/meshes/wheel_lb_link.stl differ
diff --git a/agv_pro_description/meshes/wheel_lf_link.stl b/agv_pro_description/meshes/wheel_lf_link.stl
new file mode 100755
index 0000000..0b6cf54
Binary files /dev/null and b/agv_pro_description/meshes/wheel_lf_link.stl differ
diff --git a/agv_pro_description/meshes/wheel_rb_link.stl b/agv_pro_description/meshes/wheel_rb_link.stl
new file mode 100755
index 0000000..1cd2647
Binary files /dev/null and b/agv_pro_description/meshes/wheel_rb_link.stl differ
diff --git a/agv_pro_description/meshes/wheel_rf_link.stl b/agv_pro_description/meshes/wheel_rf_link.stl
new file mode 100755
index 0000000..95cbec8
Binary files /dev/null and b/agv_pro_description/meshes/wheel_rf_link.stl differ
diff --git a/agv_pro_description/urdf/agv_pro.urdf b/agv_pro_description/urdf/agv_pro.urdf
index 026f7a6..1e810dd 100755
--- a/agv_pro_description/urdf/agv_pro.urdf
+++ b/agv_pro_description/urdf/agv_pro.urdf
@@ -6,16 +6,16 @@
   <joint name="base_joint" type="fixed">
     <parent link="base_footprint"/>
     <child link="base_link" />
-    <origin xyz="0 0 0.010" rpy="0 0 0"/>
+    <origin xyz="0 0 0.020" rpy="0 0 0"/>
   </joint>
 
   <link name="base_link">
     <inertial>
-      <origin xyz="0.0431007708276438 1.98529026033929E-05 0.0656901341380885" rpy="0 0 0" />
-      <mass value="17.2325340030774" />
-      <inertia ixx="0.130530654388061" ixy="1.25356744591082E-05" ixz="0.00260872823952655"
-               iyy="0.234600827397763" iyz="-1.08543288319261E-05"
-               izz="0.320883175393455" />
+      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
+      <mass value="19.236" />
+      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
+               iyy="0.24191" iyz="0.0044629"
+               izz="0.33755" />
     </inertial>
 
     <visual>
@@ -25,7 +25,7 @@
         <mesh filename="package://agv_pro_description/meshes/base_link.stl" />
       </geometry>
       <material name="">
-        <color rgba="0 0.686274509803922 0.384313725490196 1" />
+        <color rgba="1 1 1 1" />
       </material>
     </visual>
 
@@ -39,21 +39,21 @@
 
   <link name="right_rear_wheel_link">
     <inertial>
-      <origin xyz="-4.1268E-08 -0.014058 4.809E-06" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <mass value="0.21659" />
-      <inertia ixx="0.00045184" ixy="-2.3752E-07" ixz="-1.6377E-08"
-               iyy="0.0008608"  iyz="6.8934E-09"
-               izz="0.00045128" />
+      <inertia ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
+               iyy="0.00097519" iyz="-2.3635E-07"
+               izz="0.00051178" />
     </inertial>
 
     <visual>
       <origin xyz="0 0 0"
               rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://agv_pro_description/meshes/right_rear_wheel.stl" />
+        <mesh filename="package://agv_pro_description/meshes/wheel_rb_link.stl" />
       </geometry>
       <material name="">
-        <color rgba="0.74118 0.90196 0.95686 1" />
+        <color rgba="1 1 1 1" />
       </material>
     </visual>
 
@@ -61,135 +61,31 @@
       <origin xyz="0 0 0"
               rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://agv_pro_description/meshes/right_rear_wheel.stl" />
+        <mesh filename="package://agv_pro_description/meshes/wheel_rb_link.stl" />
       </geometry>
     </collision>
   </link>
   
-  <joint name="right_rear_wheel_joint" type="fixed">
-    <origin xyz="-0.1239 -0.142 0.052" rpy="0 0 0" />
+  <joint name="right_rear_wheel_joint" type="continuous">
+    <origin xyz="-0.171806101587598 -0.179900399999999 0.0518836514526621" rpy="0 0 0" />
     <parent link="base_link" />
     <child link="right_rear_wheel_link" />
-    <axis xyz="0 0 0" />
+    <axis xyz="0 1 0" />
   </joint>
   
   <link name="right_front_wheel_link">
     <inertial>
-      <origin xyz="2.24622794741574E-06 -0.0140582850581192 -4.25241401135618E-06" rpy="0 0 0" />
+      <origin xyz="6.6563E-05 -0.019725 8.3836E-05" rpy="0 0 0" />
       <mass value="0.21659122149244" />
-      <inertia ixx="0.000451733958911204" ixy="2.14133462162245E-07" ixz="2.19425044898881E-07"
-               iyy="0.000860800194632781" iyz="1.03009700284975E-07"
-               izz="0.000451383161284103" />
+      <inertia ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
+               iyy="0.00097519" iyz="-2.3635E-07"
+               izz="0.00051178" />
     </inertial>
 
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://agv_pro_description/meshes/right_front_wheel.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="0.741176470588235 0.901960784313726 0.956862745098039 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/right_front_wheel.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="right_front_wheel_joint" type="fixed">
-    <origin xyz="0.2191 -0.142 0.052"
-      rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="right_front_wheel_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="left_front_wheel_link">
-    <inertial>
-      <origin xyz="-2.79514271568464E-06 0.0140582854597342 3.91212172640154E-06" rpy="0 0 0" />
-      <mass value="0.216591225420666" />
-      <inertia ixx="0.000451625300911203" ixy="-1.87998059108676E-07" ixz="2.71888627187796E-07"
-               iyy="0.000860792252472034" iyz="-1.45335918849847E-07"
-               izz="0.000451484014611363" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/left_front_wheel.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="0.741176470588235 0.901960784313726 0.956862745098039 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/left_front_wheel.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="Left_front_wheel_joint" type="fixed">
-    <origin xyz="0.2191 0.142 0.052"
-      rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="left_front_wheel_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="left_rear_wheel_link">
-    <inertial>
-      <origin xyz="6.86055793786E-07 0.0140582850580976 -4.76003074739717E-06" rpy="0 0 0" />
-      <mass value="0.21659122149267" />
-      <inertia ixx="0.000451821289106536" ixy="2.33751294354773E-07" ixz="9.94261647253684E-08"
-               iyy="0.000860800194633265" iyz="4.27138200112425E-08"
-               izz="0.000451295831089451" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/left_rear_wheel.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="0.741176470588235 0.901960784313726 0.956862745098039 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/left_rear_wheel.stl" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="left_rear_wheel_joint" type="fixed">
-    <origin xyz="-0.1239 0.142 0.052" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="left_rear_wheel_link" />
-    <axis xyz="0 0 0" />
-  </joint>
-  
-  <link name="laser_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="0" />
-      <inertia ixx="0" ixy="0" ixz="0" iyy="0"
-               iyz="0"
-               izz="0" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/lidar.stl" />
+        <mesh filename="package://agv_pro_description/meshes/wheel_rf_link.stl" />
       </geometry>
       <material name="">
         <color rgba="1 1 1 1" />
@@ -199,13 +95,117 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://agv_pro_description/meshes/lidar.stl" />
+        <mesh filename="package://agv_pro_description/meshes/wheel_rf_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="right_front_wheel_joint" type="continuous">
+    <origin xyz="-0.17181 0.1799 0.051884"
+      rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="right_front_wheel_link" />
+    <axis xyz="0 1 0" />
+  </joint>
+  
+  <link name="left_front_wheel_link">
+    <inertial>
+      <origin xyz="1.4671E-06 -0.019803 4.3218E-06" rpy="0 0 0" />
+      <mass value="0.3015" />
+      <inertia ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
+               iyy="0.00099948" iyz="7.5332E-08"
+               izz="0.00052362" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/wheel_lf_link.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/wheel_lf_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="left_front_wheel_joint" type="continuous">
+    <origin xyz="0.17128 0.1799 0.052"
+      rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="left_front_wheel_link" />
+    <axis xyz="0 1 0" />
+  </joint>
+  
+  <link name="left_rear_wheel_link">
+    <inertial>
+      <origin xyz="-2.4454E-06 0.019725 -4.3121E-06" rpy="0 0 0" />
+      <mass value="0.29613" />
+      <inertia ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
+               iyy="0.0009752" iyz="1.173E-07"
+               izz="0.00051131" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/wheel_lb_link.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/wheel_lb_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="left_rear_wheel_joint" type="continuous">
+    <origin xyz="0.17128 -0.1799 0.052" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="left_rear_wheel_link" />
+    <axis xyz="0 1 0" />
+  </joint>
+  
+  <link name="laser_link">
+    <inertial>
+      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
+      <mass value="0.049095" />
+      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05"
+               iyz="-4.2154E-09"
+               izz="3.4612E-05" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/laser_link.stl" />
       </geometry>
     </collision>
   </link>
   
   <joint name="lidar_joint" type="fixed">
-    <origin xyz="0.22254 0 0.2339"
+    <origin xyz="0.17891 0 0.20928"
       rpy="0 0 0" />
     <parent link="base_link" />
     <child link="laser_link" />