diff --git a/sitl_config/models/hokuyo_lidar/model.sdf b/sitl_config/models/hokuyo_lidar/model.sdf
index 4870d56..20f8f5f 100644
--- a/sitl_config/models/hokuyo_lidar/model.sdf
+++ b/sitl_config/models/hokuyo_lidar/model.sdf
@@ -3,30 +3,32 @@
   <model name="hokuyo_lidar">
     <pose>0 0 0 0 0 0</pose>
     <link name="link">
-   <inertial>      
-	  <mass>0.001</mass>     
-	   <inertia> <!-- inertias are tricky to compute -->         	
-     <ixx>0.001</ixx>      
-		 <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->      
- 		<ixy>0.0</ixy>      
-    <!-- for a box: ixy = 0 -->     
-		<ixz>0.0</ixz>        
-    <!-- for a box: ixz = 0 -->        
-		<iyy>0.001</iyy>       
-    <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->          			
-    <iyz>0.0</iyz>        
- 	  <!-- for a box: iyz = 0 -->       
-   		<izz>0.001</izz>      
-    <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->        		  
-    </inertia>    
- 	 </inertial>
+      <inertial>      
+        <mass>0.001</mass>     
+        <inertia> <!-- inertias are tricky to compute -->         	
+          <ixx>0.001</ixx>      
+          <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->      
+          <ixy>0.0</ixy>      
+          <!-- for a box: ixy = 0 -->     
+          <ixz>0.0</ixz>        
+          <!-- for a box: ixz = 0 -->        
+          <iyy>0.001</iyy>       
+          <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->          			
+          <iyz>0.0</iyz>        
+          <!-- for a box: iyz = 0 -->       
+          <izz>0.001</izz>      
+          <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->        		  
+        </inertia>    
+      </inertial>
+
       <visual name="visual">
         <geometry>
           <mesh>
-            <uri>model://hokuyo_lidar/meshes/hokuyo.dae</uri>
+            <uri>model://hokuyo/meshes/hokuyo.dae</uri>
           </mesh>
         </geometry>
       </visual>
+
       <collision name="collision-base">
         <pose>0 0 -0.0145 0 0 0</pose>
         <geometry>
@@ -35,6 +37,7 @@
           </box>
         </geometry>
       </collision>
+
       <collision name="collision-top">
         <pose>0 0 0.0205 0 0 0</pose>
         <geometry>
@@ -44,34 +47,33 @@
           </cylinder>
         </geometry>
       </collision>
+
       <sensor name="laser" type="ray">
-        <pose>0.01 0 0.0175 0 -0 0</pose>
+        <pose>0 0 0.0175 0 -0 0</pose>
         <ray>
           <scan>
             <horizontal>
-              <samples>640</samples>
+              <samples>512</samples>
               <resolution>1</resolution>
-              <min_angle>-3.14</min_angle>
-              <max_angle>3.14</max_angle>
+              <min_angle>-2.09</min_angle>
+              <max_angle>2.09</max_angle>
             </horizontal>
           </scan>
           <range>
-            <min>0.08</min>
-            <max>10</max>
+            <min>0.45</min>
+            <max>5</max>
             <resolution>0.01</resolution>
           </range>
         </ray>
-     
- 	<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
-         <robotNamespace></robotNamespace>
-         <topicName>scan</topicName>
-         <frameName>laser_2d</frameName>
-  </plugin>
+        <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
+          <robotNamespace></robotNamespace>
+          <topicName>scan</topicName>
+          <frameName>laser</frameName>
+        </plugin>
         <always_on>1</always_on>
         <update_rate>500</update_rate>
-        <visualize>true</visualize>
-      </sensor>
-	 
+        <visualize>True</visualize>
+      </sensor> 
     </link>
   </model>
 </sdf>