diff --git a/hector_slam b/hector_slam
new file mode 160000
index 0000000..b7d19bf
--- /dev/null
+++ b/hector_slam
@@ -0,0 +1 @@
+Subproject commit b7d19bfee3c2848d611e8da142445b896790d7fb
diff --git a/src/turtlebot3_simulations b/src/turtlebot3_simulations
deleted file mode 160000
index e9d809c..0000000
--- a/src/turtlebot3_simulations
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit e9d809ca8e3bf889c0275e4103b15a341ffab888
diff --git a/src/turtlebot_description/rviz/display.rviz b/src/turtlebot_description/rviz/display.rviz
index 64fdb56..d134623 100644
--- a/src/turtlebot_description/rviz/display.rviz
+++ b/src/turtlebot_description/rviz/display.rviz
@@ -9,7 +9,11 @@ Panels:
         - /RobotModel1
         - /TF1
         - /TF1/Frames1
+<<<<<<< HEAD
       Splitter Ratio: 0.5
+=======
+      Splitter Ratio: 0.5264706015586853
+>>>>>>> devolop
     Tree Height: 439
   - Class: rviz/Selection
     Name: Selection
@@ -78,6 +82,7 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+<<<<<<< HEAD
         camera_link:
           Alpha: 1
           Show Axes: false
@@ -97,6 +102,9 @@ Visualization Manager:
           Show Trail: false
           Value: true
         caster_back_right_link:
+=======
+        caster_back:
+>>>>>>> devolop
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -182,9 +190,15 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
+<<<<<<< HEAD
       Pitch: 0.5753997564315796
       Target Frame: <Fixed Frame>
       Yaw: 0.013627300970256329
+=======
+      Pitch: 0.31039994955062866
+      Target Frame: <Fixed Frame>
+      Yaw: 4.9499592781066895
+>>>>>>> devolop
     Saved: ~
 Window Geometry:
   Displays:
diff --git a/src/turtlebot_description/urdf/turtlebot.urdf.xacro b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
index 50b7bd5..39fb122 100644
--- a/src/turtlebot_description/urdf/turtlebot.urdf.xacro
+++ b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
@@ -9,7 +9,11 @@
 
     <link name="base_link">
         <visual>
+<<<<<<< HEAD
             <origin xyz="-0.14 0.2 -0.05" rpy="1.5708 0 0"/>
+=======
+            <origin xyz="-0.2 0.2 -0.07" rpy="1.5708 0 0"/>
+>>>>>>> devolop
             <geometry>
                 <mesh filename="package://turtlebot_description/meshes/bases/kubot_base.STL" scale="0.001 0.001 0.001"/>
             </geometry>
@@ -89,9 +93,17 @@
             </inertial>
     </link>
 
+<<<<<<< HEAD
     <link name="caster_back_right_link">
         <collision>
             <origin xyz="0 0.001 0" rpy="0 0 0"/>
+=======
+    <link name="caster_back">
+        
+
+        <collision>
+            <origin xyz="0 0.004 0" rpy="0 0 0"/>
+>>>>>>> devolop
             <geometry>
                 <box size="0.030 0.009 0.020"/>
             </geometry>
@@ -106,6 +118,7 @@
         </inertial>            
     </link>
 
+<<<<<<< HEAD
     <link name="caster_back_left_link">
         <collision>
             <origin xyz="0 0.001 0" rpy="0 0 0"/>
@@ -123,6 +136,8 @@
         </inertial>
     </link>
 
+=======
+>>>>>>> devolop
     <link name="imu_link"/>
 
     <link name="base_scan">
@@ -150,7 +165,11 @@
         </inertial>
     </link>
 
+<<<<<<< HEAD
     <link name="camera_link">
+=======
+    <!-- <link name="camera_link">
+>>>>>>> devolop
         <collision>
         <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
         <geometry>
@@ -161,7 +180,11 @@
 
     <link name="camera_rgb_frame"/>
 
+<<<<<<< HEAD
     <link name="camera_rgb_optical_frame"/>
+=======
+    <link name="camera_rgb_optical_frame"/> -->
+>>>>>>> devolop
 
     <joint name="base_joint" type="fixed">
         <parent link="base_footprint"/>
@@ -185,6 +208,7 @@
 
     <joint name="caster_back_right_joint" type="fixed">
         <parent link="base_link"/>
+<<<<<<< HEAD
         <child link="caster_back_right_link"/>
         <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
     </joint>
@@ -194,6 +218,13 @@
         <child link="caster_back_left_link"/>
         <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
     </joint>
+=======
+        <child link="caster_back"/>
+        <origin xyz="-0.177 0 -0.004" rpy="-1.57 0 0"/>
+    </joint>
+
+
+>>>>>>> devolop
 
     <joint name="imu_joint" type="fixed">
         <parent link="base_link"/>
@@ -207,7 +238,11 @@
         <origin xyz="-0.024 0 0.122" rpy="0 0 0"/> 
     </joint>
 
+<<<<<<< HEAD
     <joint name="camera_joint" type="fixed">
+=======
+    <!-- <joint name="camera_joint" type="fixed">
+>>>>>>> devolop
         <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
         <parent link="base_link"/>
         <child link="camera_link"/>
@@ -223,6 +258,10 @@
         <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
         <parent link="camera_rgb_frame"/>
         <child link="camera_rgb_optical_frame"/>
+<<<<<<< HEAD
     </joint>
+=======
+    </joint> -->
+>>>>>>> devolop
 
 </robot>
\ No newline at end of file