diff --git a/config/hc_sr04_sonar_ranger1d_sim_config.yaml b/config/hc_sr04_sonar_ranger1d_sim_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e955d01f60086ee1b6f54098f13bbdac334e83f4
--- /dev/null
+++ b/config/hc_sr04_sonar_ranger1d_sim_config.yaml
@@ -0,0 +1,10 @@
+rate: 20.0
+visualize: true
+fov: 0.5
+min_range: 0.2
+max_range: 4.0
+resolution: 0.003
+frame_id: '/hcsr04_sonar/hcsr04_sonar_ranger1d'
+ranger1d_topic: 'hcsr04_sonar_range'
+type: 'ultrasound'
+noise: 0.01
diff --git a/launch/hc_sr04_sonar_sim.launch b/launch/hc_sr04_sonar_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..948ba415ebaf326ec0e72629b3c57e65d0f14af1
--- /dev/null
+++ b/launch/hc_sr04_sonar_sim.launch
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="extra_gazebo_args" value=""/>
+    <arg name="gui" value="true"/>
+    <arg name="recording" value="false"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+    <arg name="physics" value="ode"/>
+    <arg name="verbose" value="false"/>
+    <arg name="world_name" value="worlds/empty.world"/> 
+    <arg name="respawn_gazebo" value="false"/>
+    <arg name="use_clock_frequency" value="false"/>
+    <arg name="pub_clock_frequency" value="100"/>
+  </include>
+
+  <param name="robot_description"
+         command="$(find xacro)/xacro --inorder '$(find iri_hcsr04_sonar_description)/urdf/hc_sr04_sonar_example.xacro'" />
+
+  <node pkg="robot_state_publisher" type="state_publisher" name="hcsr04_sonar_tf_broadcaster">
+    <param name="tf_prefix" type="string" value="/hcsr04_sonar"/>
+    <param name="publish_frequency" type="double" value="20.0"/>
+  </node>
+
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model hcsr04_sonar_ranger1d -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
+
+</launch>
+
diff --git a/launch/lidar_lite_sim.launch b/launch/lidar_lite_sim.launch
index 02f4fbb47b6a166b4270cb4472194e1018a3cf8e..bb29526b9fc7a3e6edf6d442a58236658f9e6bb0 100644
--- a/launch/lidar_lite_sim.launch
+++ b/launch/lidar_lite_sim.launch
@@ -26,7 +26,7 @@
     <param name="publish_frequency" type="double" value="20.0"/>
   </node>
 
-  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model lidar_lite_ranger1d_imu -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model lidar_lite_ranger1d -x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" />
 
 </launch>