diff --git a/aquanaute_description/.vscode/c_cpp_properties.json b/aquanaute_description/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000000000000000000000000000000000000..e606c3e706700e187a42ab023adde3d340929571
--- /dev/null
+++ b/aquanaute_description/.vscode/c_cpp_properties.json
@@ -0,0 +1,20 @@
+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "",
+                "limitSymbolsToIncludedHeaders": true
+            },
+            "includePath": [
+                "/opt/ros/melodic/include/**",
+                "/usr/include/**"
+            ],
+            "name": "ROS",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "gnu++14"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/aquanaute_description/.vscode/settings.json b/aquanaute_description/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..a96ca7b84395e8cbfd74ab42caa3a4dd62d6c445
--- /dev/null
+++ b/aquanaute_description/.vscode/settings.json
@@ -0,0 +1,7 @@
+{
+    "ros.distro": "melodic",
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ],
+    "cmake.configureOnOpen": true
+}
\ No newline at end of file
diff --git a/aquanaute_description/CMakeList.txt b/aquanaute_description/CMakeLists.txt
similarity index 58%
rename from aquanaute_description/CMakeList.txt
rename to aquanaute_description/CMakeLists.txt
index adc15b0da6f8a691be21e1472d2b5e1741a7d868..8b8fbf5f3fe40eb865cf1d1b0a0e4f7104c02cd7 100644
--- a/aquanaute_description/CMakeList.txt
+++ b/aquanaute_description/CMakeLists.txt
@@ -1,12 +1,20 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(aquanaute_description)
 
-find_package(catkin REQUIRED COMPONENTS roslaunch)
-
-catkin_package()
+find_package(catkin REQUIRED COMPONENTS
+  controller_manager
+  gazebo_ros
+  joint_state_publisher
+  robot_state_publisher
+  rospy
+  rviz
+  roslaunch
+)
 
 roslaunch_add_file_check(launch)
 
+catkin_package()
+
 install(
   DIRECTORY launch meshes urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
diff --git a/aquanaute_description/launch/description.launch b/aquanaute_description/launch/description.launch
index 83eb1f8f5de7a235dfb72d140fe1d7397c7ce5e0..ad5779bf020e00a01fc471117d9c0717ad9f63c5 100644
--- a/aquanaute_description/launch/description.launch
+++ b/aquanaute_description/launch/description.launch
@@ -1,10 +1,18 @@
 <launch>
-
   <arg name="robot_namespace" default="aquanaute"/>
 
-  <param name="robot_description" command="$(find husky_description)/urdf/aquanaute.urdf
-    robot_namespace:=$(arg robot_namespace)
-    " />
+  <param name="robot_description" command="cat $(find aquanaute_description)/urdf/aquanaute.urdf"/>
+
+  <!-- send fake joint values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="joint_state_publisher_gui" value="false"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find aquanaute_description)/rviz/aquanaute.rviz"/>
 
 </launch>
 
diff --git a/aquanaute_description/models/mesh/Hull.stl b/aquanaute_description/models/mesh/Hull.stl
deleted file mode 100644
index 62c6457c6e8c61b3de89193a0424ff36007fe5fb..0000000000000000000000000000000000000000
Binary files a/aquanaute_description/models/mesh/Hull.stl and /dev/null differ
diff --git a/aquanaute_description/models/mesh/Motor.stl b/aquanaute_description/models/mesh/Motor.stl
deleted file mode 100644
index e070e3201512cf607fb95dfd4a0aa8aa17fe2b30..0000000000000000000000000000000000000000
Binary files a/aquanaute_description/models/mesh/Motor.stl and /dev/null differ
diff --git a/aquanaute_description/models/mesh/Platform.stl b/aquanaute_description/models/mesh/Platform.stl
deleted file mode 100644
index e4c54c277b89b87e4f3b235804abdb613e2a3838..0000000000000000000000000000000000000000
Binary files a/aquanaute_description/models/mesh/Platform.stl and /dev/null differ
diff --git a/aquanaute_description/models/mesh/sensor_frame.stl b/aquanaute_description/models/mesh/sensor_frame.stl
deleted file mode 100644
index 23a21b53fb5199f93c5f5ff598c523d14d64bb44..0000000000000000000000000000000000000000
Binary files a/aquanaute_description/models/mesh/sensor_frame.stl and /dev/null differ
diff --git a/aquanaute_description/models/mesh/Assambly_aquanaute.stl b/aquanaute_description/models/meshes/Assambly_aquanaute.stl
similarity index 100%
rename from aquanaute_description/models/mesh/Assambly_aquanaute.stl
rename to aquanaute_description/models/meshes/Assambly_aquanaute.stl
diff --git a/aquanaute_description/models/meshes/Hull.stl b/aquanaute_description/models/meshes/Hull.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4c29d727916d30bca52ef2621fe4d3cf21b1cace
Binary files /dev/null and b/aquanaute_description/models/meshes/Hull.stl differ
diff --git a/aquanaute_description/models/meshes/Motor.stl b/aquanaute_description/models/meshes/Motor.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2552f2818f205135344fe6ad680ad11bb7cfd5af
Binary files /dev/null and b/aquanaute_description/models/meshes/Motor.stl differ
diff --git a/aquanaute_description/models/meshes/Platform.stl b/aquanaute_description/models/meshes/Platform.stl
new file mode 100644
index 0000000000000000000000000000000000000000..619887d3cdec248eab6b3ad4a320d99664146e65
Binary files /dev/null and b/aquanaute_description/models/meshes/Platform.stl differ
diff --git a/aquanaute_description/models/meshes/sensor_frame.stl b/aquanaute_description/models/meshes/sensor_frame.stl
new file mode 100644
index 0000000000000000000000000000000000000000..16cc248c4d92b7ba5e33ffb3a05d12c53b440a1c
Binary files /dev/null and b/aquanaute_description/models/meshes/sensor_frame.stl differ
diff --git a/aquanaute_description/package.xml b/aquanaute_description/package.xml
index c6dce37cc4ba4e2d6c4e3e99899da4c7b5afb56a..621ec553261ff13c457cd226aa30fd9f7cbf6b9d 100644
--- a/aquanaute_description/package.xml
+++ b/aquanaute_description/package.xml
@@ -1,8 +1,11 @@
 <?xml version="1.0"?>
 <package>
   <name>aquanaute_description</name>
-  <version>0.4.2</version>
+  <version>0.0.1</version>
   <description>Aquanaute Boat URDF description</description>
+  <author email="ricardorico0527@gmail.com">Ricardo RICO URIBE</author>
+  <maintainer email="ricardorico0527@gmail.com">Ricardo RICO URIBE</maintainer>
+  <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roslaunch</build_depend>
diff --git a/aquanaute_description/rviz/aquanaute.rviz b/aquanaute_description/rviz/aquanaute.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..52ee25835ebd01fc198204f2b59311fcb7ad992d
--- /dev/null
+++ b/aquanaute_description/rviz/aquanaute.rviz
@@ -0,0 +1,192 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 719
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        left_hull_link:
+          Value: true
+        motor_link:
+          Value: true
+        right_hull_link:
+          Value: true
+        sensor_frame_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          left_hull_link:
+            {}
+          motor_link:
+            {}
+          right_hull_link:
+            {}
+          sensor_frame_link:
+            {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_hull_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        motor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_hull_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        sensor_frame_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 200; 200; 200
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.446293830871582
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5553984045982361
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.010398030281067
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007430000003efc0100000002fb0000000800540069006d0065010000000000000743000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d20000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1859
+  X: 1981
+  Y: 27
diff --git a/aquanaute_description/urdf/aquanaute.urdf b/aquanaute_description/urdf/aquanaute.urdf
index e3ad4bcf3e19786ca332151d51d918377e1bca15..22c0111dd988f37c2b6d39335207aed40a7977c5 100644
--- a/aquanaute_description/urdf/aquanaute.urdf
+++ b/aquanaute_description/urdf/aquanaute.urdf
@@ -1,131 +1,210 @@
 <?xml version="1.0"?>
 <robot name="aquanaute">
-  <!-- Macro for creating the main collisions as simple shapes. -->
-  <xacro:macro name="main_collisions" params="prefix reflect:=1">
-    <!-- Main float -->
-    <collision name="${prefix}_float">
-      <origin xyz="-0.4 ${1.03*reflect} 0.2" rpy="${0*reflect} 1.57 0" />
-      <geometry>
-        <cylinder length="4" radius="0.2" />
-      </geometry>
-    </collision>
-
-    <collision name="${prefix}_mid_float">
-      <origin xyz="1.85 ${1.03*reflect} 0.3" rpy="${0*reflect} 1.38 0" />
-      <geometry>
-        <cylinder length="0.5" radius="0.17" />
-      </geometry>
-    </collision>
-    <collision name="${prefix}_front_float">
-      <origin xyz="2.3 ${1.03*reflect} 0.4" rpy="${0*reflect} 1.3 0" />
-      <geometry>
-        <cylinder length="0.45" radius="0.12" />
-      </geometry>
-    </collision>
-
-    <!-- Front beam -->
-    <collision name="front_${prefix}_beam_lower">
-      <origin xyz="0.9 ${0.85*reflect} 1" rpy="${0.78*reflect} 0 0" />
-      <geometry>
-        <cylinder length="0.5" radius="0.04" />
-      </geometry>
-    </collision>
-
-    <collision name="front_${prefix}_beam_upper">
-      <origin xyz="0.9 ${0.6*reflect} 1.18" rpy="${1.35*reflect} 0 0" />
-      <geometry>
-        <cylinder length="0.2" radius="0.04" />
-      </geometry>
-    </collision>
-
-    <!-- Mid beam -->
-    <collision name="mid_${prefix}_beam_lower">
-      <origin xyz="-0.65 ${0.99*reflect} 0.7" rpy="${0.1*reflect} 0.25 0" />
-      <geometry>
-        <cylinder length="0.45" radius="0.03" />
-      </geometry>
-    </collision>
-
-    <collision name="mid_${prefix}_beam_medium">
-      <origin xyz="-0.57 ${0.87*reflect} 1.05" rpy="${0.75*reflect} 0.25 0" />
-      <geometry>
-        <cylinder length="0.32" radius="0.03" />
-      </geometry>
-    </collision>
-
-    <collision name="mid_${prefix}_beam_upper">
-      <origin xyz="-0.55 ${0.65*reflect} 1.17" rpy="${1.35*reflect} 0.25 0" />
-      <geometry>
-        <cylinder length="0.3" radius="0.03" />
-      </geometry>
-    </collision>
-
-    <!-- Rear beam -->
-    <collision name="rear_${prefix}_beam_lower">
-      <origin xyz="-0.74 ${1.03*reflect} 0.7" rpy="${0*reflect} -0.15 0" />
-      <geometry>
-        <cylinder length="0.45" radius="0.03" />
-      </geometry>
-    </collision>
-
-    <collision name="rear_${prefix}_beam_medium">
-      <origin xyz="-0.79 ${0.91*reflect} 1.05" rpy="${0.75*reflect} -0.15 0" />
-      <geometry>
-        <cylinder length="0.32" radius="0.03" />
-      </geometry>
-    </collision>
-
-    <collision name="rear_${prefix}_beam_upper">
-      <origin xyz="-0.81 ${0.67*reflect} 1.18" rpy="${1.45*reflect} -0.15 0" />
-      <geometry>
-        <cylinder length="0.3" radius="0.03" />
-      </geometry>
-    </collision>
-
-    <!-- Joint -->
-    <collision name="${prefix}_joint">
-      <origin xyz="0.58 ${1.03*reflect} 0.6" rpy="${0*reflect} -0.6 0" />
-      <geometry>
-        <box size="0.65 0.2 0.1" />
-      </geometry>
-    </collision>
-  </xacro:macro>
-
-  <link name="base_link">
-  </link>
-
-  <joint name="dummy_joint" type = "fixed">
-    <parent link="base_link"/>
-    <child link="dummy_link"/>
-  </joint>
-
-  <!-- Basic model of the 16' WAM-V USV -->
-  <link name="dummy_link">
-    <visual>
-      <geometry>
-        <mesh filename="package://wamv_description/models/WAM-V-Base/mesh/WAM-V-Base.dae"/>
-      </geometry>
-    </visual>
-
-    <!-- Left base collisions -->
-    <xacro:main_collisions prefix="left" reflect="1" />
-
-    <!-- Right side collisions -->
-    <xacro:main_collisions prefix="right" reflect="-1" />
-
-     <!-- Top base -->
-    <collision name="top_base">
-      <origin xyz="0 -0 1.25" rpy="0 0 0" />
-      <geometry>
-        <box size="1.85 1 0.1" />
-      </geometry>
-    </collision>
-
-    <inertial>
-      <!-- From WAM-V spec sheet -->
-      <mass value="180.0"/>
-      <inertia ixx="120.0" ixy="0.0" ixz="0.0" iyy="393" iyz="0.0" izz="446.0"/>
-    </inertial>
-  </link>
+
+    <material name="blue">
+        <color rgba="0 0 0.8 1"/>
+    </material>
+    <material name="red">
+        <color rgba="0.8 0 0 1"/>
+    </material>
+    <material name="green">
+        <color rgba="0 0.8 0 1"/>
+    </material>
+    <material name="cyan">
+        <color rgba="0 0.6 0.6 1"/>
+    </material>
+    <material name="yellow">
+        <color rgba="0.8 0.8 0 1"/>
+    </material>
+    <material name="purple">
+        <color rgba="0.5 0 0.5 1"/>
+    </material>
+    <material name="white">
+        <color rgba="1 1 1 1"/>
+    </material>
+    <material name="gray">
+        <color rgba="0.35 0.35 0.35 1"/>
+    </material>
+    <material name="black">
+        <color rgba="0 0 0 1"/>
+    </material>
+
+   	<!-- * * * Link Definitions * * * -->
+    <link name="base_link">
+        <!--
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="10.5"/>
+            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
+        </inertial>
+        -->
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Platform.stl"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin rpy="0.0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Platform.stl"/>
+            </geometry>
+            <material name="yellow"/>
+        </visual>
+    </link>
+
+    <link name="right_hull_link">
+        <!--
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="10.5"/>
+            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
+        </inertial>
+        -->
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin rpy="0.0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
+            </geometry>
+            <material name="red"/>
+        </visual>
+    </link>
+
+    <link name="left_hull_link">
+        <!--
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="10.5"/>
+            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
+        </inertial>
+        -->
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin rpy="0.0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
+            </geometry>
+            <material name="red"/>
+        </visual>
+    </link>
+
+    <link name="motor_link">
+        <!--
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="10.5"/>
+            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
+        </inertial>
+        -->
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin rpy="0.0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>
+            </geometry>
+            <material name="purple"/>
+        </visual>
+    </link>
+
+    <link name="sensor_frame_link">
+        <!--
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="10.5"/>
+            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
+        </inertial>
+        -->
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin rpy="0.0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>
+            </geometry>
+            <material name="cyan"/>
+        </visual>
+    </link>
+
+    <!-- * * * Joint Definitions * * * -->
+    <joint name="right_hull_platform_joint" type="fixed">
+    	<parent link="base_link"/>
+    	<child link="right_hull_link"/>
+    	<origin xyz="-0.05 -0.7 -0.036" rpy="0 0 0"/>
+	</joint>
+
+    <joint name="left_hull_platform_joint" type="fixed">
+    	<parent link="base_link"/>
+    	<child link="left_hull_link"/>
+    	<origin xyz="-0.05 0.7 -0.036" rpy="0 0 0"/>
+	</joint>
+
+    <joint name="motor_platform_joint" type="fixed">
+    	<parent link="base_link"/>
+    	<child link="motor_link"/>
+    	<origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/>
+	</joint>
+
+    <joint name="sensor_frame_platform_joint" type="fixed">
+    	<parent link="base_link"/>
+    	<child link="sensor_frame_link"/>
+    	<origin xyz="-0.55 0.0 0.0" rpy="0 0 0"/>
+	</joint>
+
+    <!--
+    <joint name="pitch_joint" type="revolute">
+    	<parent link="roll_M1_link"/>
+    	<child link="pitch_M2_link"/>
+    	<origin xyz="0 0 0" rpy="0 -1.5708 0"/>
+        <limit lower="0" upper="0.44" effort="0.1" velocity="0.005"/>
+        <axis xyz="0 1 0"/>
+	</joint>
+
+    <joint name="yaw_joint" type="continuous">
+    	<parent link="pitch_M2_link"/>
+    	<child link="yaw_M3_link"/>
+        <origin xyz="0.01 0 0" rpy="0 1.5708 0"/>
+        <limit effort="0.1" velocity="0.01"/>
+        <axis xyz="0 0 1"/>
+	</joint>
+    -->
+    
+    <!-- This is for color and physical properties in Gazebo, color won't work with the material tag in gazebo
+    only for URDF coloring 
+    <gazebo reference="roll_M1_link">
+        <kp>1000.0</kp>
+        <kd>10.0</kd>
+        <mu1>10.0</mu1>
+        <mu2>10.0</mu2>
+        <material>Gazebo/Red</material>
+    </gazebo>
+    -->
 
 </robot>