diff --git a/littlebot_description/gazebo/littlebot.gazebo.xacro b/littlebot_description/gazebo/littlebot.gazebo.xacro
index 192094d..013b549 100644
--- a/littlebot_description/gazebo/littlebot.gazebo.xacro
+++ b/littlebot_description/gazebo/littlebot.gazebo.xacro
@@ -49,116 +49,75 @@
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
       <parameters>$(find littlebot_control)/config/control.yaml</parameters>
     </plugin>
+    <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
+          <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin filename="ignition-gazebo-imu-system" name="ignition::gazebo::systems::Imu">
+    </plugin>
+  </gazebo>
+ 
+  <!-- Plugin IMU -->
+  <gazebo reference="imu_link">
+    <sensor name="imu_sensor" type="imu">
+      <always_on>1</always_on>
+      <update_rate>100</update_rate>
+      <visualize>true</visualize>
+      <ignition_frame_id>imu_link</ignition_frame_id>
+      <topic>imu</topic>
+    </sensor>
   </gazebo>
-  
-    <!-- Plugin CONTROLER -->
-    <!-- <gazebo>
-      <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-        <parameters>$(find littlebot_control)/config/control.yaml</parameters>
-      </plugin>
-    </gazebo> -->
-
-    <!-- <ros2_control name="littlebot_hardware_sim" type="system">
-      <hardware>
-        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-      </hardware>
-      <joint name="base_to_left_wheel">
-        <command_interface name="velocity">
-          <param name="min">-1</param>
-          <param name="max">1</param>
-        </command_interface>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>      
-      <joint name="base_to_right_wheel">
-        <command_interface name="velocity">
-          <param name="min">-1</param>
-          <param name="max">1</param>
-        </command_interface>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="chassis_link_to_caster">
-        <state_interface name="position"/>
-      </joint>
-      <joint name="caster_to_free_wheel">
-        <state_interface name="position"/>
-      </joint>
-    </ros2_control> -->
 
-       <gazebo>
+  <!-- Plugin SONAR -->
+  <!-- <xacro:macro name="sonar" params="reference topic_name">
+    <gazebo reference="${reference}">        
+      <sensor type="ray" name="TeraRanger">
+        <update_rate>50</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>10</samples>
+              <resolution>1</resolution> 
+              <min_angle>-0.14835</min_angle>
+              <max_angle>0.14835</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>10</samples>
+              <resolution>1</resolution> 
+              <min_angle>-0.14835</min_angle>
+              <max_angle>0.14835</max_angle> 
+            </vertical>
+          </scan>
+          <range>
+            <min>0.01</min>
+            <max>2</max>
+            <resolution>0.02</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.005</stddev>
+          </noise>
+        </ray>
 
-      <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
-            <render_engine>ogre2</render_engine>
+        <plugin name="gazebo_ros_range_controller" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <namespace>/</namespace>
+            <remapping>~/out:=sensor/${topic_name}</remapping>
+          </ros>
+          <output_type>sensor_msgs/Range</output_type>
+          <frame_name>${reference}</frame_name>
+          <radiation_type>ultrasound</radiation_type>
         </plugin>
-
-      <plugin filename="ignition-gazebo-imu-system" name="ignition::gazebo::systems::Imu">
-        </plugin>
-
+      </sensor>  
     </gazebo>
- 
-    <!-- Plugin IMU -->
-    <gazebo reference="imu_link">
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>100</update_rate>
-        <visualize>true</visualize>
-        <ignition_frame_id>imu_link</ignition_frame_id>
-        <topic>imu</topic>
-      </sensor>
-    </gazebo>
-
-    <!-- Plugin SONAR -->
-    <!-- <xacro:macro name="sonar" params="reference topic_name">
-      <gazebo reference="${reference}">        
-        <sensor type="ray" name="TeraRanger">
-          <update_rate>50</update_rate>
-          <ray>
-            <scan>
-              <horizontal>
-                <samples>10</samples>
-                <resolution>1</resolution> 
-                <min_angle>-0.14835</min_angle>
-                <max_angle>0.14835</max_angle>
-              </horizontal>
-              <vertical>
-                <samples>10</samples>
-                <resolution>1</resolution> 
-                <min_angle>-0.14835</min_angle>
-                <max_angle>0.14835</max_angle> 
-              </vertical>
-            </scan>
-            <range>
-              <min>0.01</min>
-              <max>2</max>
-              <resolution>0.02</resolution>
-            </range>
-            <noise>
-              <type>gaussian</type>
-              <mean>0.0</mean>
-              <stddev>0.005</stddev>
-            </noise>
-          </ray>
-
-          <plugin name="gazebo_ros_range_controller" filename="libgazebo_ros_ray_sensor.so">
-            <ros>
-              <namespace>/</namespace>
-              <remapping>~/out:=sensor/${topic_name}</remapping>
-            </ros>
-            <output_type>sensor_msgs/Range</output_type>
-            <frame_name>${reference}</frame_name>
-            <radiation_type>ultrasound</radiation_type>
-          </plugin>
-        </sensor>  
-      </gazebo>
-    </xacro:macro> -->
+  </xacro:macro> -->
 
-    <!-- Call SONAR gazebo plugin xacro -->
-    <!-- <xacro:sonar reference="sonar_1" topic_name="sonar1" /> -->
-    <!-- <xacro:sonar reference="sonar_2" topic_name="sonar2" /> -->
-    <!-- <xacro:sonar reference="sonar_3" topic_name="sonar3" /> -->
-    <!-- <xacro:sonar reference="sonar_4" topic_name="sonar4" /> -->
-    <!-- <xacro:sonar reference="sonar_5" topic_name="sonar5" /> -->
+  <!-- Call SONAR gazebo plugin xacro -->
+  <!-- <xacro:sonar reference="sonar_1" topic_name="sonar1" /> -->
+  <!-- <xacro:sonar reference="sonar_2" topic_name="sonar2" /> -->
+  <!-- <xacro:sonar reference="sonar_3" topic_name="sonar3" /> -->
+  <!-- <xacro:sonar reference="sonar_4" topic_name="sonar4" /> -->
+  <!-- <xacro:sonar reference="sonar_5" topic_name="sonar5" /> -->
     
   </xacro:macro>
 </robot>