diff --git a/urdf/rslidar16.xacro b/urdf/rslidar16.xacro
index 7eab7bc2010e712a739938d777f63f42c24cd7ed..521611fe94dea94f99a9e59b02ec83f0d0171ef0 100644
--- a/urdf/rslidar16.xacro
+++ b/urdf/rslidar16.xacro
@@ -24,10 +24,10 @@
     <joint name="${name}_base_scan_joint" type="fixed" >
       <origin xyz="0 0 0.0414" rpy="0 0 0" />
       <parent link="${name}_base" />
-      <child link="rslidar"/>
+      <child link="${name}"/>
     </joint>
         
-    <link name="rslidar">
+    <link name="${name}">
       <inertial>
         <mass value="0.1"/>
         <origin xyz="0 0 0"/>
@@ -47,7 +47,7 @@
       </collision>
     </link>
 
-   <xacro:iri_velodyne_gazebo name="rslidar" config="${sim_config}"/>
+   <xacro:iri_velodyne_gazebo name="${name}" config="${sim_config}"/>
 
   </xacro:macro>
 </root>