diff --git a/rove.repos b/rove.repos
index 8eb12b9..24500e3 100644
--- a/rove.repos
+++ b/rove.repos
@@ -6,7 +6,7 @@ repositories:
   ovis_ros2:
     type: git
     url: https://github.com/clubcapra/ovis_ros2
-    version: new-env-with-arm
+    version: fix-gazebo
   ros_odrive:
     type: git
     url: https://github.com/IliTheButterfly/ros_odrive.git
@@ -15,14 +15,6 @@ repositories:
     type: git
     url: https://github.com/dawonn/vectornav.git
     version: ros2
-  zed_wrapper:
-    type: git
-    url: https://github.com/stereolabs/zed-ros2-wrapper.git
-    version: master
-  zed_wrapper/zed-ros2-interfaces:
-    type: git
-    url: https://github.com/stereolabs/zed-ros2-interfaces.git
-    version: main
   ros2_robotiq_gripper:
     type: git
     url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
@@ -31,11 +23,7 @@ repositories:
     type: git
     url: https://github.com/tylerjw/serial.git
     version: ros2
-  control_msgs:
-    type: git
-    url: https://github.com/ros-controls/control_msgs.git
-    version: humble
-  ros2_control:
+  gz_ros2_control:
     type: git
-    url: https://github.com/ros-controls/ros2_control.git
-    version: humble
+    url: https://github.com/clubcapra/gz_ros2_control.git
+    version: iron
\ No newline at end of file
diff --git a/src/rove_bringup/launch/sim.launch.py b/src/rove_bringup/launch/sim.launch.py
index 3db90ea..70bda6f 100644
--- a/src/rove_bringup/launch/sim.launch.py
+++ b/src/rove_bringup/launch/sim.launch.py
@@ -50,15 +50,12 @@ def generate_launch_description():
         executable='create',
         arguments=['-file', actor_file_path,
                    '-name', 'actor',
-                   '-topic', 'actor_pose',
                    '-x', '0',
                    '-y', '0',
                    '-z', '0.1'],
         output='screen',
     )
 
-    yaw = -pi / 2
-
     # Spawn robot
     spawn_rove = Node(
         package='ros_gz_sim',
@@ -69,7 +66,6 @@ def generate_launch_description():
             '-x', '0',
             '-y', '0',
             '-z', '0.1',
-            '-Y', str(yaw),
         ],
         output='screen',
     )
diff --git a/src/rove_description/config/basic.rviz b/src/rove_description/config/basic.rviz
index 881b1b1..3b16d96 100644
--- a/src/rove_description/config/basic.rviz
+++ b/src/rove_description/config/basic.rviz
@@ -5,6 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /DepthCloud1/Auto Size1
+        - /ovis1
       Splitter Ratio: 0.5
     Tree Height: 325
   - Class: rviz_common/Selection
@@ -422,6 +423,7 @@ Visualization Manager:
         Value: true
         filtered position: true
         frontier_detection: true
+        ovis: true
       Zoom Factor: 1
     - Alpha: 1
       Class: rviz_default_plugins/PointStamped
@@ -472,6 +474,79 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /ovis/robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        ovis_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        ovis_end_effector:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        ovis_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ovis_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ovis_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ovis_link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ovis_link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ovis_link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ovis_link_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: ovis
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -518,25 +593,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 36.84917449951172
+      Distance: 5.895462989807129
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.4458295702934265
-        Y: 3.5056796073913574
-        Z: -1.5910545587539673
+        X: -1.1900383234024048
+        Y: 2.6531126499176025
+        Z: -1.9524527788162231
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.914797306060791
+      Pitch: 0.5347976684570312
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.8786468505859375
+      Yaw: 4.698642730712891
     Saved: ~
 Window Geometry:
   Camera:
diff --git a/src/rove_description/urdf/rove.urdf.xacro b/src/rove_description/urdf/rove.urdf.xacro
index ea73cd1..7a8095b 100644
--- a/src/rove_description/urdf/rove.urdf.xacro
+++ b/src/rove_description/urdf/rove.urdf.xacro
@@ -1,62 +1,56 @@
 <?xml version="1.0"?>
 <robot name="rove" xmlns:xacro="http://www.ros.org/wiki/xacro">
     <material name="rubber_color">
-        <color rgba="0.1 0.1 0.1 1.0"/>
+        <color rgba="0.1 0.1 0.1 1.0" />
     </material>
     <material name="frame_color">
-        <color rgba="0.5 0.5 0.5 1.0"/>
+        <color rgba="0.5 0.5 0.5 1.0" />
     </material>
     <material name="lidar_color">
-        <color rgba="1 0 0 1.0"/>
+        <color rgba="1 0 0 1.0" />
     </material>
 
     <xacro:include filename="$(find rove_description)/urdf/gazebo.urdf.xacro" />
     <xacro:include filename="$(find rove_description)/urdf/sensor.urdf.xacro" />
-    
+
     <xacro:include filename="$(find rove_description)/urdf/flipper.urdf.xacro" />
     <xacro:include filename="$(find rove_description)/urdf/track.urdf.xacro" />
     <xacro:include filename="$(find rove_description)/urdf/rove.ros2_control.urdf.xacro" />
-    
-    <!-- <xacro:include filename="$(find ovis_description)/urdf/ovis.urdf.xacro" /> -->
 
     <link name="base_link">
         <visual>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
             <geometry>
-                <mesh filename="https://raw.githubusercontent.com/clubcapra/rove/main/src/rove_description/meshes/base.stl"/>
+                <mesh
+                    filename="https://raw.githubusercontent.com/clubcapra/rove/main/src/rove_description/meshes/base.stl" />
             </geometry>
-            <material name="frame_color"/>
+            <material name="frame_color" />
         </visual>
         <visual>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
             <geometry>
-                <mesh filename="file://$(find rove_description)/meshes/base.stl"/>
+                <mesh filename="file://$(find rove_description)/meshes/base.stl" />
             </geometry>
-            <material name="frame_color"/>
+            <material name="frame_color" />
         </visual>
         <collision>
-            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <origin xyz="0 0 0" rpy="0 0 0" />
             <geometry>
-                <mesh filename="file://$(find rove_description)/meshes/base.stl"/>
+                <mesh filename="file://$(find rove_description)/meshes/base.stl" />
             </geometry>
         </collision>
         <inertial>
-            <origin xyz="0 0 0.5" rpy="0 0 0"/>
-            <mass value="80"/>
-            <inertia ixx="1"  ixy="0"  ixz="0" iyy="1" iyz="0" izz="1" />
+            <origin xyz="0 0 0.5" rpy="0 0 0" />
+            <mass value="80" />
+            <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
         </inertial>
     </link>
 
     <!-- <xacro:rove_ros2_control/> -->
-     <!-- Put these at -1 to mock the motors if working without the motors -->
+    <!-- Put these at -1 to mock the motors if working without the motors -->
     <!-- <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/> -->
-    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24"/>
-
+    <xacro:odrive_control fl_id="21" rl_id="22" fr_id="23" rr_id="24" />
 
-    <!-- Insert ovis on top of rove -->
-    <!-- <xacro:property name="robot_root" value="base_link" />
-    <xacro:property name="ovis_robot_namespace" value="rove" />
-    <xacro:property name="ovis_base_origin" value="-0.2 0 0.2" />
-    <xacro:ovis base_parent="${robot_root}" prefix="${ovis_robot_namespace}" joint_base_origin_xyz="${ovis_base_origin}" /> -->
+    <xacro:property name="robot_root" value="base_link" />
 
-</robot>
+</robot>
\ No newline at end of file
diff --git a/src/rove_description/urdf/sensor.urdf.xacro b/src/rove_description/urdf/sensor.urdf.xacro
index b250f45..8f4005e 100644
--- a/src/rove_description/urdf/sensor.urdf.xacro
+++ b/src/rove_description/urdf/sensor.urdf.xacro
@@ -5,7 +5,7 @@
     <joint name="sensor_joint" type="fixed">
         <parent link="base_link" />
         <child link="sensor_link" />
-        <origin xyz="0.1 0 0.4" rpy="0 0 0" />
+        <origin xyz="0.3 0 0.4" rpy="0 0 0" />
     </joint>
 
     <joint name="zed_camera_joint" type="fixed">
@@ -57,7 +57,6 @@
     </link>
 
 
-
     <link name="sensor_link">
         <inertial>
             <origin xyz="0 0 0" rpy="0 0 0" />
@@ -78,9 +77,9 @@
         </collision>
     </link>
     <xacro:velodyne_lidar name="velodyne" parent_link="base_link">
-        <origin xyz="0.0 0.0 0.4" rpy="0 0 0" />
+        <origin xyz="0.3 0.0 0.4" rpy="0 0 0" />
     </xacro:velodyne_lidar>
-    
+
     <gazebo reference="sensor_link">
         <material>Gazebo/Black</material>
         <sensor name="imu_sensor" type="imu">