diff --git a/models/r1_rover/model.sdf b/models/r1_rover/model.sdf
index 3038038..05fff02 100644
--- a/models/r1_rover/model.sdf
+++ b/models/r1_rover/model.sdf
@@ -1,9 +1,9 @@
 <sdf version='1.6'>
 	<model name='r1_rover'>
-    <link name='base_link'>
-	    	<pose>0 0 0 0 -0 0</pose>
+		<link name='base_link'>
+			<pose>0 0 0 0 0 0</pose>
 			<inertial>
-				<pose>0 0 0 0 -0 0</pose>
+				<pose>0 0 0 0 0 0</pose>
 				<mass>20.0</mass>
 				<inertia>
 					<ixx>0.37083</ixx>
@@ -14,24 +14,16 @@
 					<izz>0.53333</izz>
 				</inertia>
 			</inertial>
-			<collision name='odom_fixed_joint_lump__base_link_collision'>
-				<pose>0 0 0.15 0 -0 0</pose>
+			<collision name='base_link_collision'>
+				<pose>0 0 0.15 0 0 0</pose>
 				<geometry>
 					<box>
-					<size>0.4 0.4 0.25</size>
+						<size>0.4 0.4 0.25</size>
 					</box>
 				</geometry>
-				<surface>
-					<contact>
-						<ode/>
-					</contact>
-					<friction>
-						<ode/>
-					</friction>
-				</surface>
 			</collision>
-			<visual name='odom_fixed_joint_lump__base_link_visual'>
-				<pose>0 0 0 0 -0 0</pose>
+			<visual name='base_link_visual_chassi'>
+				<pose>0 0 0 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -43,8 +35,8 @@
 					<specular>1.0 1.0 1.0</specular>
 				</material>
 			</visual>
-			<visual name='odom_fixed_joint_lump__top_link_visual_1'>
-				<pose>0 0 0.114486 0 -0 0</pose>
+			<visual name='base_link_visual_top_link'>
+				<pose>0 0 0.114486 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -56,8 +48,8 @@
 					<specular>1.0 1.0 1.0</specular>
 				</material>
 			</visual>
-			<visual name='odom_fixed_joint_lump__battery_link_visual_2'>
-				<pose>-0.09302 -0.000128 0.114486 0 -0 0</pose>
+			<visual name='base_link_visual_battery_link'>
+				<pose>-0.09302 -0.000128 0.114486 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -69,8 +61,8 @@
 					<specular>0.5 0.5 0.5</specular>
 				</material>
 			</visual>
-			<visual name='odom_fixed_joint_lump__housing_link_visual_3'>
-				<pose>0.03473 0 0.114486 0 -0 0</pose>
+			<visual name='base_link_visual_housing_link'>
+				<pose>0.03473 0 0.114486 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -82,8 +74,8 @@
 					<specular>0.5 0.5 0.5</specular>
 				</material>
 			</visual>
-			<visual name='odom_fixed_joint_lump__l_antenna_link_visual_4'>
-				<pose>-0.1565 0.0762 0.114486 0 -0 0</pose>
+			<visual name='base_link_visual_antenna_link'>
+				<pose>-0.1565 0.0762 0.114486 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -95,8 +87,8 @@
 					<specular>0.5 0.5 0.5</specular>
 				</material>
 			</visual>
-			<visual name='odom_fixed_joint_lump__r_antenna_link_visual_5'>
-				<pose>-0.1565 -0.0762 0.114486 0 -0 0</pose>
+			<visual name='base_link_visual_antenna_link_2'>
+				<pose>-0.1565 -0.0762 0.114486 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -108,13 +100,7 @@
 					<specular>0.5 0.5 0.5</specular>
 				</material>
 			</visual>
-			<velocity_decay/>
-			<velocity_decay/>
-			<velocity_decay/>
-			<velocity_decay/>
-			<velocity_decay/>
 			<gravity>1</gravity>
-			<velocity_decay/>
 			<sensor name="imu_sensor" type="imu">
 				<always_on>1</always_on>
 				<update_rate>250</update_rate>
@@ -191,7 +177,7 @@
 			</sensor>
 		</link>
 	  	<link name='lf_wheel_link'>
-			<pose>0.15 0.16317 0.0215 0 -0 0</pose>
+			<pose>0.15 0.16317 0.0215 0 0 0</pose>
 			<inertial>
 				<pose>0 0 0 1.57079632679 0 0</pose>
 				<mass>0.414</mass>
@@ -221,8 +207,8 @@
 							<surface_radius>0.0686</surface_radius>
 						</torsional>
 						<ode>
-							<mu>1.0</mu>
-							<mu2>1.0</mu2>
+							<mu>2.0</mu>
+							<mu2>2.0</mu2>
 							<fdir1>1 0 0</fdir1>
 							<slip1>0.0</slip1>
 							<slip2>0.0</slip2>
@@ -243,7 +229,7 @@
 				</surface>
 			</collision>
 			<visual name='lf_wheel_link_visual'>
-				<pose>0 0 0 0 -0 0</pose>
+				<pose>0 0 0 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -275,7 +261,7 @@
 			</axis>
 		</joint>
 	  	<link name='lb_wheel_link'>
-	    	<pose>-0.15 0.16317 0.0215 0 -0 0</pose>
+	    	<pose>-0.15 0.16317 0.0215 0 0 0</pose>
 	    	<inertial>
 			<pose>0 0 0 1.57079632679 0 0</pose>
 			<mass>0.414</mass>
@@ -305,8 +291,8 @@
 						<surface_radius>0.0686</surface_radius>
 					</torsional>
 					<ode>
-						<mu>1.0</mu>
-						<mu2>1.0</mu2>
+						<mu>2.0</mu>
+						<mu2>2.0</mu2>
 						<fdir1>1 0 0</fdir1>
 						<slip1>0.0</slip1>
 						<slip2>0.0</slip2>
@@ -327,7 +313,7 @@
 				</surface>
 	    	</collision>
 			<visual name='lb_wheel_link_visual'>
-				<pose>0 0 0 0 -0 0</pose>
+				<pose>0 0 0 0 0 0</pose>
 					<geometry>
 						<mesh>
 							<scale>1 1 1</scale>
@@ -359,7 +345,7 @@
 			</axis>
 		</joint>
 	  	<link name='rf_wheel_link'>
-			<pose>0.15 -0.16317 0.0215 0 -0 0</pose>
+			<pose>0.15 -0.16317 0.0215 0 0 0</pose>
 			<inertial>
 				<pose>0 0 0 1.57079632679 0 0</pose>
 				<mass>0.414</mass>
@@ -383,35 +369,35 @@
 				<max_contacts>1</max_contacts>
 				<surface>
 					<friction>
-					<torsional>
-					<coefficient>0.25</coefficient>
-					<use_patch_radius>1</use_patch_radius>
-					<surface_radius>0.0686</surface_radius>
-					</torsional>
-					<ode>
-					<mu>1.0</mu>
-					<mu2>1.0</mu2>
-					<fdir1>1 0 0</fdir1>
-					<slip1>0.0</slip1>
-					<slip2>0.0</slip2>
-					</ode>
+						<torsional>
+							<coefficient>0.25</coefficient>
+							<use_patch_radius>1</use_patch_radius>
+							<surface_radius>0.0686</surface_radius>
+						</torsional>
+						<ode>
+							<mu>2.0</mu>
+							<mu2>2.0</mu2>
+							<fdir1>1 0 0</fdir1>
+							<slip1>0.0</slip1>
+							<slip2>0.0</slip2>
+						</ode>
 					</friction>
 					<bounce>
-					<restitution_coefficient>0</restitution_coefficient>
-					<threshold>1e6</threshold>
+						<restitution_coefficient>0</restitution_coefficient>
+						<threshold>1e6</threshold>
 					</bounce>
 					<contact>
-					<ode>
-					<min_depth>0.001</min_depth>
-					<max_vel>0.0</max_vel>
-					<kp>1.0e6</kp>
-					<kd>100.0</kd>
-					</ode>
+						<ode>
+							<min_depth>0.001</min_depth>
+							<max_vel>0.0</max_vel>
+							<kp>1.0e6</kp>
+							<kd>100.0</kd>
+						</ode>
 					</contact>
 				</surface>
 			</collision>
 			<visual name='rf_wheel_link_visual'>
-				<pose>0 0 0 0 -0 0</pose>
+				<pose>0 0 0 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -443,7 +429,7 @@
 			</axis>
 		</joint>
 	  	<link name='rb_wheel_link'>
-			<pose>-0.15 -0.16317 0.0215 0 -0 0</pose>
+			<pose>-0.15 -0.16317 0.0215 0 0 0</pose>
 			<inertial>
 				<pose>0 0 0 1.57079632679 0 0</pose>
 				<mass>0.414</mass>
@@ -473,8 +459,8 @@
 							<surface_radius>0.0686</surface_radius>
 						</torsional>
 						<ode>
-							<mu>1.0</mu>
-							<mu2>1.0</mu2>
+							<mu>2.0</mu>
+							<mu2>2.0</mu2>
 							<fdir1>1 0 0</fdir1>
 							<slip1>0.0</slip1>
 							<slip2>0.0</slip2>
@@ -493,7 +479,7 @@
 				</surface>
 			</collision>
 			<visual name='rb_wheel_link_visual'>
-				<pose>0 0 0 0 -0 0</pose>
+				<pose>0 0 0 0 0 0</pose>
 				<geometry>
 					<mesh>
 						<scale>1 1 1</scale>
@@ -561,5 +547,5 @@
 			<joint_name>motor_2</joint_name>
 			<joint_name>motor_3</joint_name>
 		</plugin>
-	</model>
+  </model>
 </sdf>
diff --git a/models/r1_rover_mecanum/meshes/antenna_link.STL b/models/r1_rover_mecanum/meshes/antenna_link.STL
new file mode 100644
index 0000000..52b6413
Binary files /dev/null and b/models/r1_rover_mecanum/meshes/antenna_link.STL differ
diff --git a/models/r1_rover_mecanum/meshes/battery_link.STL b/models/r1_rover_mecanum/meshes/battery_link.STL
new file mode 100644
index 0000000..7630a50
Binary files /dev/null and b/models/r1_rover_mecanum/meshes/battery_link.STL differ
diff --git a/models/r1_rover_mecanum/meshes/chassis_link.STL b/models/r1_rover_mecanum/meshes/chassis_link.STL
new file mode 100644
index 0000000..01cba27
Binary files /dev/null and b/models/r1_rover_mecanum/meshes/chassis_link.STL differ
diff --git a/models/r1_rover_mecanum/meshes/housing_link.STL b/models/r1_rover_mecanum/meshes/housing_link.STL
new file mode 100644
index 0000000..953ccbe
Binary files /dev/null and b/models/r1_rover_mecanum/meshes/housing_link.STL differ
diff --git a/models/r1_rover_mecanum/meshes/top_link.STL b/models/r1_rover_mecanum/meshes/top_link.STL
new file mode 100644
index 0000000..d551d78
Binary files /dev/null and b/models/r1_rover_mecanum/meshes/top_link.STL differ
diff --git a/models/r1_rover_mecanum/meshes/wheel_link.STL b/models/r1_rover_mecanum/meshes/wheel_link.STL
new file mode 100644
index 0000000..af0acf5
Binary files /dev/null and b/models/r1_rover_mecanum/meshes/wheel_link.STL differ
diff --git a/models/r1_rover_mecanum/meshes/wheel_link_simple.STL b/models/r1_rover_mecanum/meshes/wheel_link_simple.STL
new file mode 100644
index 0000000..367796e
Binary files /dev/null and b/models/r1_rover_mecanum/meshes/wheel_link_simple.STL differ
diff --git a/models/r1_rover_mecanum/model.config b/models/r1_rover_mecanum/model.config
new file mode 100644
index 0000000..79d0b6f
--- /dev/null
+++ b/models/r1_rover_mecanum/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>r1_rover</name>
+  <version>1.0</version>
+  <sdf version='1.5'>r1_rover.sdf</sdf>
+  <license>https://github.com/aionrobotics/aion_io/blob/master/LICENSE.txt</license>
+
+  <author>
+   <name>Nicholas Nunno</name>
+  </author>
+
+  <description>
+    This is a model for the Aion robotics R1 ugv rover. The sdf file is adpated from [aion_io](https://github.com/aionrobotics/aion_io)
+  </description>
+</model>
diff --git a/models/r1_rover_mecanum/model.sdf b/models/r1_rover_mecanum/model.sdf
new file mode 100644
index 0000000..8a4f8a0
--- /dev/null
+++ b/models/r1_rover_mecanum/model.sdf
@@ -0,0 +1,492 @@
+<sdf version='1.6'>
+	<model name='r1_rover_mecanum'>
+		<link name='base_link'>
+			<pose>0 0 0 0 0 0</pose>
+			<inertial>
+				<pose>0 0 0 0 0 0</pose>
+				<mass>20.0</mass>
+				<inertia>
+					<ixx>0.37083</ixx>
+					<ixy>0.0</ixy>
+					<ixz>0.0</ixz>
+					<iyy>0.37083</iyy>
+					<iyz>0.0</iyz>
+					<izz>0.53333</izz>
+				</inertia>
+			</inertial>
+			<collision name='base_link_collisionn'>
+				<pose>0 0 0.15 0 0 0</pose>
+				<geometry>
+					<box>
+						<size>0.4 0.4 0.25</size>
+					</box>
+				</geometry>
+			</collision>
+			<visual name='base_link_visual'>
+				<pose>0 0 0 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/chassis_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>1.0 1.0 1.0</diffuse>
+					<specular>1.0 1.0 1.0</specular>
+				</material>
+			</visual>
+			<visual name='top_link_visual_1'>
+				<pose>0 0 0.114486 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/top_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>1.0 1.0 1.0</diffuse>
+					<specular>1.0 1.0 1.0</specular>
+				</material>
+			</visual>
+			<visual name='link_visual_2'>
+				<pose>-0.09302 -0.000128 0.114486 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/battery_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<visual name='link_visual_3'>
+				<pose>0.03473 0 0.114486 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/housing_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<visual name='link_visual_4'>
+				<pose>-0.1565 0.0762 0.114486 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/antenna_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<visual name='link_visual_5'>
+				<pose>-0.1565 -0.0762 0.114486 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<scale>1 1 1</scale>
+						<uri>model://r1_rover/meshes/antenna_link.STL</uri>
+					</mesh>
+				</geometry>
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+			<sensor name="imu_sensor" type="imu">
+				<always_on>1</always_on>
+				<update_rate>250</update_rate>
+				<imu>
+					<angular_velocity>
+						<x>
+							<noise type="gaussian">
+							<mean>0</mean>
+							<stddev>0.0003394</stddev>
+							<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
+							<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
+							</noise>
+						</x>
+						<y>
+							<noise type="gaussian">
+							<mean>0</mean>
+							<stddev>0.0003394</stddev>
+							<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
+							<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
+							</noise>
+						</y>
+						<z>
+							<noise type="gaussian">
+							<mean>0</mean>
+							<stddev>0.0003394</stddev>
+							<dynamic_bias_stddev>3.8785e-05</dynamic_bias_stddev>
+							<dynamic_bias_correlation_time>1000</dynamic_bias_correlation_time>
+							</noise>
+						</z>
+					</angular_velocity>
+					<linear_acceleration>
+						<x>
+							<noise type="gaussian">
+							<mean>0</mean>
+							<stddev>0.004</stddev>
+							<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
+							<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
+							</noise>
+						</x>
+						<y>
+							<noise type="gaussian">
+							<mean>0</mean>
+							<stddev>0.004</stddev>
+							<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
+							<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
+							</noise>
+						</y>
+						<z>
+							<noise type="gaussian">
+							<mean>0</mean>
+							<stddev>0.004</stddev>
+							<dynamic_bias_stddev>0.006</dynamic_bias_stddev>
+							<dynamic_bias_correlation_time>300</dynamic_bias_correlation_time>
+							</noise>
+						</z>
+					</linear_acceleration>
+				</imu>
+			</sensor>
+			<sensor name="air_pressure_sensor" type="air_pressure">
+				<always_on>1</always_on>
+				<update_rate>50</update_rate>
+				<air_pressure>
+					<pressure>
+						<noise type="gaussian">
+						<mean>0</mean>
+						<stddev>0.01</stddev>
+						</noise>
+					</pressure>
+				</air_pressure>
+			</sensor>
+			<sensor name="navsat_sensor" type="navsat">
+				<always_on>1</always_on>
+				<update_rate>30</update_rate>
+			</sensor>
+		</link>
+		<link name='lf_wheel_link'>
+			<pose>0.15 0.16317 0.0215 0 0 0</pose>
+			<inertial>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<mass>0.414</mass>
+				<inertia>
+					<ixx>0.00068682</ixx>
+					<ixy>0</ixy>
+					<ixz>0</ixz>
+					<iyy>0.00068682</iyy>
+					<iyz>0</iyz>
+					<izz>0.00097299</izz>
+				</inertia>
+			</inertial>
+			<collision name='lf_wheel_link_collision'>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<geometry>
+					<cylinder>
+					<radius>0.0686</radius>
+					<length>0.0762</length>
+					</cylinder>
+				</geometry>
+				<surface>
+					<friction>
+						<ode>
+							<mu>3.0</mu>
+							<mu2>0.0</mu2>
+							<fdir1 gz:expressed_in="base_link">1 -1 0</fdir1>
+							<slip1>0.0</slip1>
+							<slip2>0.0</slip2>
+						</ode>
+					</friction>
+				</surface>
+			</collision>
+			<visual name='visual'>
+				<pose>0 0 0 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
+						<!-- scale mesh to radius == 0.0686 -->
+						<scale>0.001372 0.001372 0.001372</scale>
+					</mesh>
+				</geometry>
+				<material>
+					<ambient>0.2 0.2 0.2 1</ambient>
+					<diffuse>0.2 0.2 0.2 1</diffuse>
+					<specular>0.2 0.2 0.2 1</specular>
+				</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+		</link>
+	    <joint name='motor_0' type='revolute'>
+			<child>lf_wheel_link</child>
+			<parent>base_link</parent>
+			<axis>
+				<xyz>0 1 0</xyz>
+				<limit>
+					<lower>-1e+16</lower>
+					<upper>1e+16</upper>
+				</limit>
+				<dynamics>
+					<spring_reference>0</spring_reference>
+					<spring_stiffness>0</spring_stiffness>
+				</dynamics>
+				<use_parent_model_frame>1</use_parent_model_frame>
+			</axis>
+	    </joint>
+		<link name='lb_wheel_link'>
+			<pose>-0.15 0.16317 0.0215 0 0 0</pose>
+			<inertial>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<mass>0.414</mass>
+				<inertia>
+					<ixx>0.00068682</ixx>
+					<ixy>0</ixy>
+					<ixz>0</ixz>
+					<iyy>0.00068682</iyy>
+					<iyz>0</iyz>
+					<izz>0.00097299</izz>
+				</inertia>
+			</inertial>
+			<collision name='lb_wheel_link_collision'>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<geometry>
+					<cylinder>
+					<radius>0.0686</radius>
+					<length>0.0762</length>
+					</cylinder>
+				</geometry>
+				<surface>
+					<friction>
+						<ode>
+							<mu>3.0</mu>
+							<mu2>0.0</mu2>
+							<fdir1 gz:expressed_in="base_link">1 1 0</fdir1>
+							<slip1>0.0</slip1>
+							<slip2>0.0</slip2>
+						</ode>
+					</friction>
+				</surface>
+			</collision>
+			<visual name='visual'>
+				<pose>0 0 0 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
+						<!-- scale mesh to radius == 0.0686 -->
+						<scale>0.001372 0.001372 0.001372</scale>
+					</mesh>
+				</geometry>
+				<material>
+					<ambient>0.2 0.2 0.2 1</ambient>
+					<diffuse>0.2 0.2 0.2 1</diffuse>
+					<specular>0.2 0.2 0.2 1</specular>
+				</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+		</link>
+		<joint name='motor_2' type='revolute'>
+			<child>lb_wheel_link</child>
+			<parent>base_link</parent>
+			<axis>
+				<xyz>0 1 0</xyz>
+				<limit>
+					<lower>-1e+16</lower>
+					<upper>1e+16</upper>
+				</limit>
+				<dynamics>
+					<spring_reference>0</spring_reference>
+					<spring_stiffness>0</spring_stiffness>
+				</dynamics>
+				<use_parent_model_frame>1</use_parent_model_frame>
+			</axis>
+		</joint>
+		<link name='rf_wheel_link'>
+			<pose>0.15 -0.16317 0.0215 0 0 0</pose>
+			<inertial>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<mass>0.414</mass>
+				<inertia>
+					<ixx>0.00068682</ixx>
+					<ixy>0</ixy>
+					<ixz>0</ixz>
+					<iyy>0.00068682</iyy>
+					<iyz>0</iyz>
+					<izz>0.00097299</izz>
+				</inertia>
+			</inertial>
+			<collision name='rf_wheel_link_collision'>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<geometry>
+					<cylinder>
+					<radius>0.0686</radius>
+					<length>0.0762</length>
+					</cylinder>
+				</geometry>
+				<surface>
+					<friction>
+						<ode>
+							<mu>3.0</mu>
+							<mu2>0.0</mu2>
+							<fdir1 gz:expressed_in="base_link">1 1 0</fdir1>
+							<slip1>0.0</slip1>
+							<slip2>0.0</slip2>
+						</ode>
+					</friction>
+				</surface>
+			</collision>
+			<visual name='visual'>
+				<pose>0 0 0 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
+						<!-- scale mesh to radius == 0.0686 -->
+						<scale>0.001372 0.001372 0.001372</scale>
+					</mesh>
+				</geometry>
+				<material>
+					<ambient>0.2 0.2 0.2 1</ambient>
+					<diffuse>0.2 0.2 0.2 1</diffuse>
+					<specular>0.2 0.2 0.2 1</specular>
+				</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+		</link>
+	    <joint name='motor_1' type='revolute'>
+			<child>rf_wheel_link</child>
+			<parent>base_link</parent>
+			<axis>
+				<xyz>0 -1 0</xyz>
+				<limit>
+					<lower>-1e+16</lower>
+					<upper>1e+16</upper>
+				</limit>
+				<dynamics>
+					<spring_reference>0</spring_reference>
+					<spring_stiffness>0</spring_stiffness>
+				</dynamics>
+				<use_parent_model_frame>1</use_parent_model_frame>
+			</axis>
+	    </joint>
+		<link name='rb_wheel_link'>
+			<pose>-0.15 -0.16317 0.0215 0 0 0</pose>
+			<inertial>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<mass>0.414</mass>
+				<inertia>
+					<ixx>0.00068682</ixx>
+					<ixy>0</ixy>
+					<ixz>0</ixz>
+					<iyy>0.00068682</iyy>
+					<iyz>0</iyz>
+					<izz>0.00097299</izz>
+				</inertia>
+			</inertial>
+			<collision name='rb_wheel_link_collision'>
+				<pose>0 0 0 1.57079632679 0 0</pose>
+				<geometry>
+					<cylinder>
+						<radius>0.0686</radius>
+						<length>0.0762</length>
+					</cylinder>
+				</geometry>
+				<surface>
+					<friction>
+						<ode>
+							<mu>3.0</mu>
+							<mu2>0.0</mu2>
+							<fdir1 gz:expressed_in="base_link">1 -1 0</fdir1>
+							<slip1>0.0</slip1>
+							<slip2>0.0</slip2>
+						</ode>
+					</friction>
+				</surface>
+			</collision>
+			<visual name='visual'>
+				<pose>0 0 0 0 0 0</pose>
+				<geometry>
+					<mesh>
+						<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
+						<!-- scale mesh to radius == 0.0686 -->
+						<scale>0.001372 0.001372 0.001372</scale>
+					</mesh>
+				</geometry>
+				<material>
+					<ambient>0.2 0.2 0.2 1</ambient>
+					<diffuse>0.2 0.2 0.2 1</diffuse>
+					<specular>0.2 0.2 0.2 1</specular>
+				</material>
+			</visual>
+			<gravity>1</gravity>
+			<velocity_decay/>
+		</link>
+		<joint name='motor_3' type='revolute'>
+			<child>rb_wheel_link</child>
+			<parent>base_link</parent>
+			<axis>
+				<xyz>0 -1 0</xyz>
+				<limit>
+					<lower>-1e+16</lower>
+					<upper>1e+16</upper>
+				</limit>
+				<dynamics>
+					<spring_reference>0</spring_reference>
+					<spring_stiffness>0</spring_stiffness>
+				</dynamics>
+				<use_parent_model_frame>1</use_parent_model_frame>
+			</axis>
+		</joint>
+		<static>0</static>
+		<!-- LF -->
+		<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
+			<joint_name>motor_0</joint_name>
+			<sub_topic>command/motor_speed</sub_topic>
+			<use_actuator_msg>true</use_actuator_msg>
+			<actuator_number>0</actuator_number>
+			<p_gain>10.0</p_gain>
+		</plugin>
+		<!-- RF -->
+		<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
+			<joint_name>motor_1</joint_name>
+			<sub_topic>command/motor_speed</sub_topic>
+			<use_actuator_msg>true</use_actuator_msg>
+			<actuator_number>1</actuator_number>
+			<p_gain>10.0</p_gain>
+		</plugin>
+		<!-- LB -->
+		<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
+			<joint_name>motor_2</joint_name>
+			<sub_topic>command/motor_speed</sub_topic>
+			<use_actuator_msg>true</use_actuator_msg>
+			<actuator_number>2</actuator_number>
+			<p_gain>10.0</p_gain>
+		</plugin>
+		<!-- RB -->
+		<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
+			<joint_name>motor_3</joint_name>
+			<sub_topic>command/motor_speed</sub_topic>
+			<use_actuator_msg>true</use_actuator_msg>
+			<actuator_number>3</actuator_number>
+			<p_gain>10.0</p_gain>
+		</plugin>
+		<plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+			<joint_name>motor_0</joint_name>
+			<joint_name>motor_1</joint_name>
+			<joint_name>motor_2</joint_name>
+			<joint_name>motor_3</joint_name>
+		</plugin>
+	</model>
+</sdf>
diff --git a/models/rover_ackermann/model.sdf b/models/rover_ackermann/model.sdf
index bb81892..900c1fe 100644
--- a/models/rover_ackermann/model.sdf
+++ b/models/rover_ackermann/model.sdf
@@ -333,11 +333,6 @@
 	    <pose relative_to="servo_1">0 0 0 0 0 0</pose>
 	    <axis>
 	      <xyz>0 1 0</xyz>
-	      <limit>
-		<lower>-1.79769e+308</lower>
-		<upper>1.79769e+308</upper>
-		<velocity>50.0</velocity>
-	      </limit>
 	      <dynamics>
 		<spring_reference>0</spring_reference>
 		<spring_stiffness>0</spring_stiffness>
@@ -351,11 +346,6 @@
 	    <pose relative_to="servo_0 ">0 0 0 0 0 0</pose>
 	    <axis>
 	      <xyz>0 1 0</xyz>
-	      <limit>
-		<lower>-1.79769e+308</lower>
-		<upper>1.79769e+308</upper>
-		<velocity>50.0</velocity>
-	      </limit>
 	      <dynamics>
 		<spring_reference>0</spring_reference>
 		<spring_stiffness>0</spring_stiffness>
@@ -369,11 +359,6 @@
 	    <pose relative_to="base_link">-0.192 -.1 0 0 0 0</pose>
 	    <axis>
 	      <xyz>0 1 0</xyz>
-	      <limit>
-		<lower>-1.79769e+308</lower>
-		<upper>1.79769e+308</upper>
-		<velocity>50.0</velocity>
-	      </limit>
 	      <dynamics>
 		<spring_reference>0</spring_reference>
 		<spring_stiffness>0</spring_stiffness>
@@ -387,11 +372,6 @@
 	    <pose relative_to="base_link">-0.192 .1 0 0 0 0</pose>
 	    <axis>
 	      <xyz>0 1 0</xyz>
-	      <limit>
-		<lower>-1.79769e+308</lower>
-		<upper>1.79769e+308</upper>
-		<velocity>50.0</velocity>
-	      </limit>
 	      <dynamics>
 		<spring_reference>0</spring_reference>
 		<spring_stiffness>0</spring_stiffness>
diff --git a/worlds/rover.sdf b/worlds/rover.sdf
index 919fb1f..b69142a 100644
--- a/worlds/rover.sdf
+++ b/worlds/rover.sdf
@@ -176,8 +176,8 @@
           <surface>
             <friction>
               <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
+                <mu>2</mu>
+                <mu2>2</mu2>
               </ode>
             </friction>
             <bounce/>