diff --git a/src/agv_description/launch/agv_description.launch b/src/agv_description/launch/agv_description.launch
index 37719d3..b3f8766 100644
--- a/src/agv_description/launch/agv_description.launch
+++ b/src/agv_description/launch/agv_description.launch
@@ -1,6 +1,7 @@
 <launch>
     <param name="robot_description" command="$(find xacro)/xacro '$(find agv_description)/urdf/agv.urdf.xacro'" />
 
-    
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
+    </node>
 
 </launch>
\ No newline at end of file
diff --git a/src/agv_description/urdf/agv_core.xacro b/src/agv_description/urdf/agv_core.xacro
index 3ee4226..ac143bb 100644
--- a/src/agv_description/urdf/agv_core.xacro
+++ b/src/agv_description/urdf/agv_core.xacro
@@ -75,7 +75,7 @@
     <joint name="left_wheel_joint" type="continuous">
         <parent link="base_link"/>
         <child link="left_wheel"/>
-        <origin xyz="0 0.175 0" rpy="-${pi/2} 0 0" />
+        <origin xyz="0 0.134 0.0375" rpy="-${pi/2} 0 0" />
         <axis xyz="0 0 1"/>
     </joint>
 
@@ -101,14 +101,12 @@
     </gazebo>
 
 
-
-
     <!-- RIGHT WHEEL LINK -->
 
     <joint name="right_wheel_joint" type="continuous">
         <parent link="base_link"/>
         <child link="right_wheel"/>
-        <origin xyz="0 -0.175 0" rpy="${pi/2} 0 0" />
+        <origin xyz="0 -0.134 0.0375" rpy="${pi/2} 0 0" />
         <axis xyz="0 0 -1"/>
     </joint>
 
@@ -139,20 +137,20 @@
     <joint name="caster_wheel_joint" type="fixed">
         <parent link="chassis"/>
         <child link="caster_wheel"/>
-        <origin xyz="0.24 0 0"/>
+        <origin xyz="0.24 0 0.02"/>
     </joint>
 
 
     <link name="caster_wheel">
         <visual>
             <geometry>
-                <sphere radius="0.05"/>
+                <sphere radius="0.02"/>
             </geometry>
             <material name="black"/>
         </visual>
         <collision>
             <geometry>
-                <sphere radius="0.05"/>
+                <sphere radius="0.02"/>
             </geometry>
         </collision>
         <xacro:inertial_sphere mass="0.1" radius="0.05">
@@ -161,7 +159,7 @@
     </link>
 
     <gazebo reference="caster_wheel">
-        <material>Gazebo/Black</material>
+        <material>Gazebo/Red</material>
         <mu1 value="0.001"/>
         <mu2 value="0.001"/>
     </gazebo>
diff --git a/src/agv_description/urdf/lidar.xacro b/src/agv_description/urdf/lidar.xacro
index c43b829..751dfae 100644
--- a/src/agv_description/urdf/lidar.xacro
+++ b/src/agv_description/urdf/lidar.xacro
@@ -6,7 +6,7 @@
     <joint name="laser_joint" type="fixed">
         <parent link="chassis"/>
         <child link="laser_frame"/>
-        <origin xyz="0.1 0 0.175" rpy="0 0 0"/>
+        <origin xyz="0.2 0 0.14" rpy="0 0 0"/>
     </joint>
 
     <link name="laser_frame">
diff --git a/src/agv_slam/launch/geotiff_map_file_path.launch b/src/agv_slam/launch/geotiff_map_file_path.launch
index e69de29..2a8c129 100644
--- a/src/agv_slam/launch/geotiff_map_file_path.launch
+++ b/src/agv_slam/launch/geotiff_map_file_path.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+
+<launch>
+  <arg name="trajectory_source_frame_name" default="/base_link"/>
+  <arg name="trajectory_update_rate" default="4"/>
+  <arg name="trajectory_publish_rate" default="0.25"/>
+  <arg name="map_file_path" default="$(find hector_geotiff)/maps"/>
+  <arg name="map_file_base_name" default="hector_slam_map"/>
+
+  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
+    <param name="target_frame_name" type="string" value="/map" />
+    <param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
+    <param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
+    <param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
+  </node>
+
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+    <remap from="map" to="/dynamic_map" />
+    <param name="map_file_path" type="string" value="$(arg map_file_path)" />
+    <param name="map_file_base_name" type="string" value="$(arg map_file_base_name)" />
+    <param name="geotiff_save_period" type="double" value="0" />
+    <param name="draw_background_checkerboard" type="bool" value="true" />
+    <param name="draw_free_space_grid" type="bool" value="true" />
+    <param name="plugins" type="string" value="hector_geotiff_plugins/TrajectoryMapWriter" />
+  </node>
+
+</launch>
\ No newline at end of file