diff --git a/config/diffbot/base.yaml b/config/diffbot/base.yaml
index 3715543..37782b0 100644
--- a/config/diffbot/base.yaml
+++ b/config/diffbot/base.yaml
@@ -1,6 +1,7 @@
 base:
-  mass: 2.5               # Base mass in Kg
+  mass: 0.8               # Base mass in Kg
   x_size: 0.195           # Dimension in x axis
-  y_size: 0.198           # Dimension in y axis
-  z_size: 0.182           # Dimension in z axis
+  y_size: 0.08            # Dimension in y axis
+  z_size: 0.005           # Dimension in z axis
   mesh: 'chassis.stl'  # Name of the mesh files. Leave it empty ('') to have a white base.
+  #mesh: ''
\ No newline at end of file
diff --git a/config/diffbot/front_wheel.yaml b/config/diffbot/front_wheel.yaml
index dc39c86..94a8c8c 100644
--- a/config/diffbot/front_wheel.yaml
+++ b/config/diffbot/front_wheel.yaml
@@ -1,8 +1,9 @@
 wheel:
   mass: 0.01        # Wheel mass in Kg
-  radius: 0.011     # Wheel radius in m
-  length: 0.006     # Wheel length in m, considering is as a cylinder
+  radius: 0.0331    # Wheel radius in m
+  length: 0.025     # Wheel length in m, considering is as a cylinder
   mesh: 'wheel.stl'          # Name of the mesh files. Leave it empty ('') to have a red wheel
-  x_offset: 0.035
-  y_offset: -0.056
-  z_offset: 0.008
+  #mesh: ''
+  x_offset: 0.079
+  y_offset: 0.015
+  z_offset: -0.017
diff --git a/config/diffbot/motor.yaml b/config/diffbot/motor.yaml
new file mode 100644
index 0000000..7c86229
--- /dev/null
+++ b/config/diffbot/motor.yaml
@@ -0,0 +1,9 @@
+mass: 0.1          # Motor mass in Kg
+x_size: 0.07       # Motor dimension in x axis
+y_size: 0.0225     # Motor dimension in y axis
+z_size: 0.0188     # Motor dimension in z axis
+mesh: 'motor.stl'  # Name of the mesh files. Leave it empty ('') to have a red wheel
+#mesh: ''
+x_offset: 0.096
+y_offset: -0.0135
+z_offset: -0.017
diff --git a/meshes/diffbot/motor.stl b/meshes/diffbot/motor.stl
index 69aed8c..a1a003b 100644
Binary files a/meshes/diffbot/motor.stl and b/meshes/diffbot/motor.stl differ
diff --git a/meshes/diffbot/wheel.stl b/meshes/diffbot/wheel.stl
index 000fe33..8f7865c 100644
Binary files a/meshes/diffbot/wheel.stl and b/meshes/diffbot/wheel.stl differ
diff --git a/urdf/diffbot.gazebo.xacro b/urdf/diffbot.gazebo.xacro
new file mode 100644
index 0000000..02718d7
--- /dev/null
+++ b/urdf/diffbot.gazebo.xacro
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- ros_control plugin -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <robotNamespace>/diffbot</robotNamespace>
+      <!--robotParam>/robot_description</robotParam-->
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+
+  <!-- xacro to set the friction for the wheel. This patch was taken from the MIR
+  repository. 
+    https://github.com/dfki-ric/mir_robot/tree/noetic.
+    https://github.com/dfki-ric/mir_robot/blob/a216d7374c21e360c94034d360b07fd7a4d42842/mir_description/urdf/include/mir_100.gazebo.xacro#L29
+   -->
+  <xacro:macro name="set_wheel_friction" params="link friction">
+    <gazebo reference="${link}">
+      <mu1 value="${friction}"/>
+      <mu2 value="${friction}"/>
+      <kp value="10000000.0"/>
+      <kd value="1.0"/>
+      <minDepth>0.01</minDepth>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="set_all_wheel_frictions" >
+    <xacro:set_wheel_friction link="back_left_wheel" friction="200"/>
+    <xacro:set_wheel_friction link="front_left_wheel" friction="200"/>
+    <xacro:set_wheel_friction link="back_right_wheel" friction="200"/>
+    <xacro:set_wheel_friction link="front_right_wheel" friction="200"/>
+  </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/urdf/diffbot.urdf.xacro b/urdf/diffbot.urdf.xacro
index 8313903..781feaf 100644
--- a/urdf/diffbot.urdf.xacro
+++ b/urdf/diffbot.urdf.xacro
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mobile_robot">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="diffbot">
 
-  <xacro:property name="package_name" value="mobile_robot_description"/>
+  <xacro:property name="package_name" value="diffbot_description"/>
   <xacro:property name="robot_name" value="diffbot"/>
 
   <xacro:include filename="$(find ${package_name})/urdf/include/common_macros.urdf.xacro" />
-  
-  <!-- <xacro:set_package_name /> -->
+  <xacro:include filename="$(find ${package_name})/urdf/include/common_sensors.xacro" />
+  <xacro:include filename="$(find ${package_name})/urdf/diffbot.gazebo.xacro" />
 
   <xacro:property name="caster_wheel_yaml" value="$(find ${package_name})/config/${robot_name}/caster_wheel.yaml" />
   <xacro:property name="caster_wheel_props" value="${load_yaml(caster_wheel_yaml)}"/>
@@ -14,17 +14,23 @@
   <xacro:property name="front_wheel_yaml" value="$(find ${package_name})/config/${robot_name}/front_wheel.yaml" />
   <xacro:property name="front_wheel_props" value="${load_yaml(front_wheel_yaml)}"/>
 
+  <xacro:property name="motor_yaml" value="$(find ${package_name})/config/${robot_name}/motor.yaml" />
+  <xacro:property name="motor_props" value="${load_yaml(motor_yaml)}"/>
+
   <xacro:property name="base_yaml" value="$(find ${package_name})/config/${robot_name}/base.yaml" />
   <xacro:property name="base_props" value="${load_yaml(base_yaml)}"/>
 
 
+  <!-- Footprint link -->
+  <xacro:footprint wheel_props="${front_wheel_props}" />
+
   <!-- Base link -->
   <xacro:base base_prop="${base_props}" mesh="${base_props['base']['mesh']}" >
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:base>
 
   <!-- Back Caster Wheel -->
-  <xacro:caster_wheel prefix="caster_wheel" reflect="-1"
+  <xacro:caster_wheel prefix="rear" reflect="-1"
                       wheel_props="${caster_wheel_props}">
   </xacro:caster_wheel>
 
@@ -40,8 +46,23 @@
                       base_props="${base_props}"
                       mesh="${front_wheel_props['wheel']['mesh']}"> 
   </xacro:wheel>
+
+
+  <!-- Motors -->
+  <xacro:motor prefix="right" reflect="-1" 
+                      motor_props="${motor_props}"
+                      base_props="${base_props}"
+                      mesh="${motor_props['mesh']}"> 
+  </xacro:motor>
+
+  <xacro:motor prefix="left" reflect="1" 
+                      motor_props="${motor_props}"
+                      base_props="${base_props}"
+                      mesh="${motor_props['mesh']}"> 
+  </xacro:motor>
        
 
-  <!-- <xacro:include filename="$(find mobile_description)/urdf/mobile_robot_gazebo_plugins.xacro"/>  -->
+  <!-- Sensors -->
+
 
 </robot>
\ No newline at end of file
diff --git a/urdf/include/common_macros.urdf.xacro b/urdf/include/common_macros.urdf.xacro
index 4a5d605..189a0dd 100644
--- a/urdf/include/common_macros.urdf.xacro
+++ b/urdf/include/common_macros.urdf.xacro
@@ -17,7 +17,7 @@
   - wheel_props [dictionary]: wheel properties;
   - base_props [dictionary]: base link properties;
   - mesh [string]: file name of the wheel mesh;
-    - DEFAULT Value -> Empty string  
+    - DEFAULT Value -> Empty string
 -->
   <xacro:macro name="wheel"
                params="prefix reflect wheel_props base_props mesh:='' ">
@@ -32,9 +32,10 @@
     <xacro:if value="${mesh != '' }" >
       <visual>
         <origin xyz="0.0 0 0" rpy="${pi/2} 0 ${pi/2.0*(reflect - 1)}"/>
-         <geometry>
-        <mesh filename="package://${package_name}/meshes/${robot_name}/${mesh}" />
+        <geometry>
+          <mesh filename="package://${package_name}/meshes/${robot_name}/${mesh}" />
         </geometry>
+        <material name="dark_grey"/>
       </visual>
     </xacro:if>
     <xacro:if value="${mesh == '' }" >
@@ -52,9 +53,11 @@
           <cylinder radius="${wheel_props['wheel']['radius']}" length="${wheel_props['wheel']['length']}"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertia m="${wheel_props['wheel']['mass']}" 
-                              r="${wheel_props['wheel']['radius']}" 
-                              l="${wheel_props['wheel']['length']}">
+      <xacro:cylinder_inertia m="${wheel_props['wheel']['mass']}"
+                              r="${wheel_props['wheel']['radius']}"
+                              l="${wheel_props['wheel']['length']}"
+                              o_xyz="0.0 0.0 0.0"
+                              o_rpy="${pi/2.0} 0.0 0.0" >
       </xacro:cylinder_inertia> 
     </link>
     
@@ -86,14 +89,12 @@
                 params="prefix reflect wheel_props locationright:=${0} ">
     <!-- caster base (fixed) -->
     <link name="${prefix}_caster_base_link">
-      <inertial>
-        <origin xyz="0 0 ${-wheel_props['base']['size']['z']/2.0}" rpy="0 0 0" />
-        <mass value="${wheel_props['base']['mass']}" />
-        <xacro:box_inertia  m="${wheel_props['base']['mass']}" 
-                            x="${wheel_props['base']['size']['x']}" 
-                            y="${wheel_props['base']['size']['y']}" 
-                            z="${wheel_props['base']['size']['z']}" />
-      </inertial>
+      <xacro:box_inertia  m="${wheel_props['base']['mass']}"
+                          x="${wheel_props['base']['size']['x']}"
+                          y="${wheel_props['base']['size']['y']}"
+                          z="${wheel_props['base']['size']['z']}"
+                          o_xyz="0.0 0.0 ${-wheel_props['base']['size']['z']/2.0}"
+                          o_rpy="0.0 0.0 0.0" />
       <xacro:if value="${wheel_props['base']['mass'] != '' }" >
         <visual>
             <origin xyz="0 0 ${-wheel_props['base']['size']['z']/2.0}" rpy="0 0 0" />
@@ -135,14 +136,12 @@
 
     <!-- caster hub -->
     <link name="${prefix}_caster_rotation_link">
-      <inertial>
-        <origin xyz="0 0 ${-wheel_props['hub']['size']['z']/2.0}" rpy="0 0 0" />
-        <mass value="${wheel_props['hub']['mass']}" />
-        <xacro:box_inertia  m="${wheel_props['hub']['mass']}" 
-                            x="${wheel_props['hub']['size']['x']}" 
-                            y="${wheel_props['hub']['size']['y']}" 
-                            z="${wheel_props['hub']['size']['z']}" />
-      </inertial>
+      <xacro:box_inertia  m="${wheel_props['hub']['mass']}"
+                          x="${wheel_props['hub']['size']['x']}"
+                          y="${wheel_props['hub']['size']['y']}"
+                          z="${wheel_props['hub']['size']['z']}"
+                          o_xyz="0.0 0.0 ${-wheel_props['hub']['size']['z']/2.0}"
+                          o_rpy="0.0 0.0 0.0" />
       <xacro:if value="${wheel_props['hub']['mesh'] != '' }" >
         <visual>
           <origin xyz="0 0 ${-wheel_props['hub']['size']['z']/2.0}" rpy="0 0 0" />
@@ -170,7 +169,7 @@
       </collision>
     </link>
     <joint name="${prefix}_caster_rotation_joint" type="continuous">
-      <origin xyz="${wheel_props['hub']['dx']} ${-wheel_props['hub']['dy'] * locationright} ${wheel_props['hub']['dz']}" 
+      <origin xyz="${wheel_props['hub']['dx']} ${-wheel_props['hub']['dy'] * locationright} ${wheel_props['hub']['dz']}"
               rpy="0 0 0" />
       <parent link="base_link" />
       <child link="${prefix}_caster_rotation_link" />
@@ -184,9 +183,9 @@
 
     <!-- caster wheel -->
     <link name="${prefix}_caster_wheel_link">
-      <xacro:cylinder_inertia m="${wheel_props['wheel']['mass']}" 
-                            r="${wheel_props['wheel']['radius']}" 
-                            l="${wheel_props['wheel']['length']}">
+      <xacro:cylinder_inertia m="${wheel_props['wheel']['mass']}"
+                              r="${wheel_props['wheel']['radius']}"
+                              l="${wheel_props['wheel']['length']}">
         <!-- TODO unused block error?: origin xyz="0 0 0" rpy="${pi/2} 0 0" /-->
       </xacro:cylinder_inertia>
       <xacro:if value="${wheel_props['wheel']['mesh'] != '' }" >
@@ -196,7 +195,7 @@
             <mesh filename="package://${package_name}/meshes/${robot_name}/${wheel_props['wheel']['mesh']}" />
           </geometry>
           <!-- TODO use this?: xacro:insert_block name="material_dark_grey" /-->
-          <material name="material_dark_grey"/>
+          <material name="dark_grey"/>
         </visual>
       </xacro:if>
       <xacro:if value="${wheel_props['wheel']['mesh'] == '' }" >
@@ -227,6 +226,75 @@
     </gazebo>
   </xacro:macro>
 
+<!-- ===================== Motor xacro =========================================
+
+  Xacro to create a motor link and the respective joint. For more detail information and usage, see:
+    https://github.com/pxalcantara/mobile_robot_description/wiki/Motor-xacro
+
+  params:
+  - prefix [string]: used to diferentiate the link and joint name;
+  - reflect [1/-1]: value to set the side of the motor;
+  - motor_props [dictionary]: motor properties;
+  - base_props [dictionary]: base link properties;
+  - mesh [string]: file name of the motor mesh;
+    - DEFAULT Value -> Empty string
+-->
+  <xacro:macro name="motor"
+               params="prefix reflect motor_props base_props mesh:='' ">
+
+  <xacro:property name="pos_x_joint"
+     value="${(base_props['base']['x_size']/2) - motor_props['x_offset']}"/>
+  <xacro:property name="pos_y_joint"
+    value="${(base_props['base']['y_size']/2) + motor_props['y_offset'] + (motor_props['y_size']/2)}"/>
+  <xacro:property name="pos_z_joint" value="${motor_props['z_offset']}"/>
+
+    <link name="${prefix}_motor">
+    <xacro:if value="${mesh != '' }" >
+      <visual>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0 ${pi/2.0*(reflect - 1)}"/>
+        <geometry>
+          <mesh filename="package://${package_name}/meshes/${robot_name}/${mesh}" />
+        </geometry>
+        <material name="blue"/>
+      </visual>
+    </xacro:if>
+    <xacro:if value="${mesh == '' }" >
+      <visual>
+        <origin xyz="0.0 0 0" rpy="${pi/2} 0 0"/>
+         <geometry>
+          <box size="${motor_props['x_size']} ${motor_props['y_size']} ${motor_props['z_size']}"/>
+        </geometry>
+        <material name="red"/>
+      </visual>
+    </xacro:if>
+      <collision>
+        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
+        <geometry>
+          <box size="${motor_props['x_size']} ${motor_props['y_size']} ${motor_props['z_size']}"/>
+        </geometry>
+      </collision>
+      <xacro:box_inertia m="${motor_props['mass']}"
+                         x="${motor_props['x_size']}"
+                         y="${motor_props['y_size']}"
+                         z="${motor_props['z_size']}">
+      </xacro:box_inertia>
+    </link>
+
+    <joint name="${prefix}_motor_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="${prefix}_motor"/>
+      <origin xyz="${pos_x_joint} ${reflect* pos_y_joint} ${pos_z_joint}" rpy="0 ${-pi/2.0*(reflect - 1)} 0"/>
+      <axis xyz="0 1 0" rpy="0 0 0" />
+      <!--origin xyz="${transX} ${reflect * (transY - wheel_width)} ${transZ}" rpy="${-pi/2.0*(reflect - 1)} 0 0" /--> 
+      <!--axis xyz="0 1 0" rpy="0 0 ${pi/2.0*(reflect - 1)}" /-->
+    </joint>
+
+    <!--gazebo reference="${fb}_${lr}_motor">
+      <material>Gazebo/SkyBlue</material>
+      <turnGravityOff>false</turnGravityOff>
+    </gazebo-->
+  </xacro:macro>
+
 <!-- ===================== Base xacro ==========================================
 
   Xacro to create the base link. For more detail information and usage, see:
@@ -266,13 +334,40 @@
       </visual>
     </xacro:if>  
     <collision>
-      <origin xyz="0 0 0.09" rpy="0 0 0"/>
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
       <geometry>
         <box size="${base_prop['base']['x_size']} ${base_prop['base']['y_size']} ${base_prop['base']['z_size']}"/>
       </geometry>
     </collision>
     </link>
-  </xacro:macro> 
+  </xacro:macro>
+
+<!-- ===================== Footprint xacro ==========================================
+
+  Xacro to create the base link. For more detail information and usage, see:
+    https://github.com/pxalcantara/mobile_robot_description/wiki/Base-xacro
+
+  params:
+  - base_props [dictionary]: base link properties;
+  - mesh [string]: file name of the link mesh;
+    - DEFAULT Value -> Empty string  
+  - origin [block]: origin, position and orientation of the link;
+-->
+  <xacro:macro name="footprint"
+               params="wheel_props">
+    <!-- Base-Footprint -->
+    <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin -->
+    <link name="base_footprint" />
+
+    <!-- Joint to connect base_footprint with base_link -->
+    <joint name="base_footprint_joint" type="fixed">
+      <parent link="base_footprint"/>
+      <child link="base_link" />
+      <!-- origin xyz="0 0 ${wheel_radius - base_z_origin_to_wheel_origin}" rpy="0 0 0" /-->
+      <!-- origin xyz="0 0 ${wheel_props['wheel']['radius'] - wheel_props['wheel']['z_offset'] + 0.1}" rpy="0 0 0" /-->
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+  </xacro:macro>
 <!-- ======================================================================= -->
 
 <!-- ======================= Intertial macros ===============================-->
@@ -286,11 +381,12 @@
   - r [float]: cylinder radius;
   - l [float]: cylinder lenght (height);
 -->
-  <xacro:macro name="cylinder_inertia" params="m r l">
+  <xacro:macro name="cylinder_inertia" params="m r l o_xyz:='0.0 0.0 0.0' o_rpy:='0.0 0.0 0.0'">
     <inertial>
       <mass value="${m}"/>
       <inertia ixx="${m*(3*r*r+l*l)/12}" ixy = "0" ixz = "0" 
-               iyy="${m*(3*r*r+l*l)/12}" iyz = "0" izz="${m*r*r/2}"/> 
+               iyy="${m*(3*r*r+l*l)/12}" iyz = "0" izz="${m*r*r/2}"/>
+      <origin xyz="${o_xyz}" rpy="${o_rpy}" />
     </inertial>
   </xacro:macro>
 
@@ -305,12 +401,13 @@
   - y [float]: link dimension on the Y-axis;
   - z [float]: link dimension on the Z-axis;
 -->
- <xacro:macro name="box_inertia" params="m x y z">
+ <xacro:macro name="box_inertia" params="m x y z o_xyz:='0.0 0.0 0.0' o_rpy:='0.0 0.0 0.0'">
     <inertial>
       <mass value="${m}"/>
       <inertia ixx="${m / 12.0 * (y*y + z*z)}" ixy="0.0" ixz="0.0"
                iyy="${m / 12.0 * (x*x + z*z)}" iyz="0.0" 
                izz="${m / 12.0 * (x*x + y*y)}"/>
+      <origin xyz="${o_xyz}" rpy="${o_rpy}" />
     </inertial>
   </xacro:macro>
 
@@ -366,7 +463,7 @@
   <material name="silver">
     <color rgba="0.79 0.82 0.93 1"/>
   </material>
-  <material name="material_dark_grey">
+  <material name="dark_grey">
     <color rgba="0.3 0.3 0.3 1"/>
   </material>
 <!-- ========================================================================-->