diff --git a/config/hokuyo_utm30lx.yaml b/config/hokuyo_utm30lx.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..43feaefeef2526bdc36c8701a79e091343856ba9
--- /dev/null
+++ b/config/hokuyo_utm30lx.yaml
@@ -0,0 +1,20 @@
+pose_x: 0
+pose_y: 0
+pose_z: 0
+pose_roll: 0
+pose_pitch: 0
+pose_yaw: 0
+visualize: false
+update_rate: 40
+samples: 1080
+resolution: 1
+min_angle: -2.36
+max_angle: 2.36
+range_min: 0.10
+range_max: 30.0
+range_resolution: 0.01
+noise_type: 'gaussian'
+noise_mean: 0.0
+noise_stddev: 0.01
+topic_name: 'scan'
+frame_name: 'scan_frame'
\ No newline at end of file
diff --git a/urdf/helena.xacro b/urdf/helena.xacro
index ed877b50c22bc4face8b145abfea33b84c34fe34..653844323f512203fbb79a0294a9db646cd5b3af 100644
--- a/urdf/helena.xacro
+++ b/urdf/helena.xacro
@@ -10,7 +10,7 @@
   <xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_helena_gazebo)/config/helena_sim_config.yaml">
   </xacro:pioneer3>
 
-  <xacro:helena_sensors name="$(arg name)" parent="$(arg name)_base_link">
+  <xacro:helena_sensors name="$(arg name)" parent="base_link">
     <origin xyz="0.0 0.0 0.27" rpy="0 0 3.14159" />
   </xacro:helena_sensors>
 </robot>
diff --git a/urdf/helena_sensors.xacro b/urdf/helena_sensors.xacro
index 583249047a474949229274590c15a7c9d2f9a12a..31e1fd322aa9510e95e7eb1ef914cc9ffc00217c 100644
--- a/urdf/helena_sensors.xacro
+++ b/urdf/helena_sensors.xacro
@@ -5,7 +5,7 @@
 
   <xacro:macro name="helena_sensors" params="name parent *origin">
 
-    <link name="${name}_sensors_base">
+    <link name="sensors_base">
       <inertial>
         <mass value="4.00000000" />
         <origin xyz="-0.02349208 0.00000000 0.20998619" rpy="0 0 0"/>
@@ -29,19 +29,24 @@
         </geometry>
       </collision>
     </link>
+    
+    <gazebo reference="sensors_base">
+      <material>Gazebo/Grey</material>
+    </gazebo>
 
-    <joint name="joint_${parent}_to_${name}_sensors_base" type="fixed" >
+
+    <joint name="joint_${parent}_to_sensors_base" type="fixed" >
       <parent link="${parent}"/>
-      <child link="${name}_sensors_base"/>
+      <child link="sensors_base"/>
       <xacro:insert_block name="origin" />
     </joint>
 
-    <xacro:hokuyo_laser2d name="front" parent="${name}_sensors_base" resolution="low_res" model="utm30lx">
-      <origin xyz="0.13121 -0.18921 0.063" rpy="0 0 0.79" />
+    <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_description)/config/hokuyo_utm30lx.yaml">
+      <origin xyz="0.13121 -0.18921 0.063" rpy="0 0 -0.785" />
     </xacro:hokuyo_laser2d>
 
-    <xacro:hokuyo_laser2d name="rear" parent="${name}_sensors_base" resolution="low_res" model="utm30lx">
-      <origin xyz="-0.13121 +0.18921 0.063" rpy="0 0 2.63" />
+    <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_description)/config/hokuyo_utm30lx.yaml">
+      <origin xyz="-0.13121 +0.18921 0.063" rpy="0 0 2.36" />
     </xacro:hokuyo_laser2d>
 
   </xacro:macro>