diff --git a/src/description/fourth_robot/fourth_robot_description/urdf/robot.urdf.xacro b/src/description/fourth_robot/fourth_robot_description/urdf/robot.urdf.xacro
index 755dbf7..449b2ec 100644
--- a/src/description/fourth_robot/fourth_robot_description/urdf/robot.urdf.xacro
+++ b/src/description/fourth_robot/fourth_robot_description/urdf/robot.urdf.xacro
@@ -20,11 +20,11 @@
     <origin xyz="0 0 -${robot_info['/**']['ros__parameters']['wheel_radius']}" rpy="0 0 0"/>
   </joint>
 
-  <xacro:wheel name="wheel_left" parent="base_link" wheel_radius="${robot_info['/**']['ros__parameters']['wheel_radius']}">
+  <xacro:wheel name="left_wheel" parent="base_link" wheel_radius="${robot_info['/**']['ros__parameters']['wheel_radius']}">
     <origin xyz="0 ${robot_info['/**']['ros__parameters']['wheel_tread'] / 2} 0" rpy="0 0 0"/>
   </xacro:wheel>
 
-  <xacro:wheel name="wheel_right" parent="base_link" wheel_radius="${robot_info['/**']['ros__parameters']['wheel_radius']}">
+  <xacro:wheel name="right_wheel" parent="base_link" wheel_radius="${robot_info['/**']['ros__parameters']['wheel_radius']}">
     <origin xyz="0 -${robot_info['/**']['ros__parameters']['wheel_tread'] / 2} 0" rpy="0 0 ${pi}"/>
   </xacro:wheel>
 </robot>