diff --git a/src/nav2_turtlebot_simulator/launch/simulator.launch.py b/src/nav2_turtlebot_simulator/launch/simulator.launch.py
index f437fcd..324ecd3 100644
--- a/src/nav2_turtlebot_simulator/launch/simulator.launch.py
+++ b/src/nav2_turtlebot_simulator/launch/simulator.launch.py
@@ -229,13 +229,13 @@ def create_mkmini_world(gazebo_dir):
             continue
         if cylinder.findtext('radius') != '0.15' or cylinder.findtext('length') != '0.5':
             continue
-        cylinder.find('length').text = '0.8'
+        cylinder.find('length').text = '1.2'
         pose = element.find('pose')
         if pose is None:
             continue
         values = pose.text.split()
         if len(values) == 6:
-            values[2] = '0.4'
+            values[2] = '0.6'
             pose.text = ' '.join(values)
 
     model_tree.write(
@@ -381,7 +381,7 @@ def launch_gazebo(context):
                 executable='static_transform_publisher',
                 name='mkmini_lidar_tf',
                 arguments=[
-                    '--x', '0', '--y', '0', '--z', '0.6',
+                    '--x', '0', '--y', '0', '--z', '0.9',
                     '--roll', '0', '--pitch', '0', '--yaw', '0',
                     '--frame-id', 'base_link', '--child-frame-id', 'os_lidar',
                 ],
diff --git a/src/nav2_turtlebot_simulator/models/mkmini_gazebo/model.sdf b/src/nav2_turtlebot_simulator/models/mkmini_gazebo/model.sdf
index 9f1bce5..63e3325 100644
--- a/src/nav2_turtlebot_simulator/models/mkmini_gazebo/model.sdf
+++ b/src/nav2_turtlebot_simulator/models/mkmini_gazebo/model.sdf
@@ -8,15 +8,20 @@
 
     <link name="base_link">
       <inertial><mass>38.0</mass><inertia><ixx>2.0</ixx><iyy>2.6</iyy><izz>3.2</izz></inertia></inertial>
-      <collision name="chassis_collision"><pose>0 0 0.16 0 0 0</pose><geometry><box><size>1.05 0.70 0.32</size></box></geometry></collision>
-      <visual name="chassis_visual"><pose>0 0 0.16 0 0 0</pose><geometry><box><size>1.05 0.70 0.32</size></box></geometry><material><ambient>0.12 0.20 0.25 1</ambient><diffuse>0.12 0.35 0.42 1</diffuse></material></visual>
-      <visual name="front_marker"><pose>0.56 0 0.23 0 0 0</pose><geometry><box><size>0.06 0.42 0.10</size></box></geometry><material><ambient>0.95 0.65 0.08 1</ambient><diffuse>0.95 0.65 0.08 1</diffuse></material></visual>
+      <collision name="chassis_collision"><pose>0 0 0.41 0 0 0</pose><geometry><box><size>1.05 0.70 0.50</size></box></geometry></collision>
+      <visual name="chassis_visual"><pose>0 0 0.41 0 0 0</pose><geometry><box><size>1.05 0.70 0.50</size></box></geometry><material><ambient>0.12 0.20 0.25 1</ambient><diffuse>0.12 0.35 0.42 1</diffuse></material></visual>
+      <visual name="front_marker"><pose>0.56 0 0.68 0 0 0</pose><geometry><box><size>0.06 0.42 0.10</size></box></geometry><material><ambient>0.95 0.65 0.08 1</ambient><diffuse>0.95 0.65 0.08 1</diffuse></material></visual>
     </link>
 
-    <link name="front_fork"><pose>0.30 0 0 0 0 0</pose><inertial><mass>1.0</mass><inertia><ixx>0.01</ixx><iyy>0.01</iyy><izz>0.01</izz></inertia></inertial></link>
+    <link name="front_fork"><pose>0.30 0 0 0 0 0</pose><inertial><mass>1.0</mass><inertia><ixx>0.01</ixx><iyy>0.01</iyy><izz>0.01</izz></inertia></inertial>
+      <!-- Visual front-wheel pair. The tricycle plugin retains its hidden
+           centre drive wheel for stable steering and odometry. -->
+      <visual name="front_left_wheel_visual"><pose>0 0.36 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.10</length></cylinder></geometry><material><ambient>0.04 0.04 0.04 1</ambient><diffuse>0.04 0.04 0.04 1</diffuse></material></visual>
+      <visual name="front_right_wheel_visual"><pose>0 -0.36 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.10</length></cylinder></geometry><material><ambient>0.04 0.04 0.04 1</ambient><diffuse>0.04 0.04 0.04 1</diffuse></material></visual>
+    </link>
     <joint name="front_steering_joint" type="revolute"><parent>base_link</parent><child>front_fork</child><axis><xyz>0 0 1</xyz><limit><lower>-0.5</lower><upper>0.5</upper></limit></axis></joint>
 
-    <link name="front_drive_wheel"><pose>0.30 0 0 0 0 0</pose><inertial><mass>1.2</mass><inertia><ixx>0.02</ixx><iyy>0.01</iyy><izz>0.02</izz></inertia></inertial><collision name="collision"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.18</length></cylinder></geometry></collision><visual name="visual"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.18</length></cylinder></geometry><material><ambient>0.04 0.04 0.04 1</ambient><diffuse>0.04 0.04 0.04 1</diffuse></material></visual></link>
+    <link name="front_drive_wheel"><pose>0.30 0 0 0 0 0</pose><inertial><mass>1.2</mass><inertia><ixx>0.02</ixx><iyy>0.01</iyy><izz>0.02</izz></inertia></inertial><collision name="collision"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.18</length></cylinder></geometry></collision></link>
     <joint name="front_drive_joint" type="revolute"><parent>front_fork</parent><child>front_drive_wheel</child><axis><xyz>0 1 0</xyz></axis></joint>
 
     <link name="rear_left_wheel"><pose>-0.30 0.36 0 0 0 0</pose><inertial><mass>1.0</mass><inertia><ixx>0.02</ixx><iyy>0.01</iyy><izz>0.02</izz></inertia></inertial><collision name="collision"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.10</length></cylinder></geometry></collision><visual name="visual"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.10</length></cylinder></geometry><material><ambient>0.04 0.04 0.04 1</ambient><diffuse>0.04 0.04 0.04 1</diffuse></material></visual></link>
@@ -25,9 +30,9 @@
     <link name="rear_right_wheel"><pose>-0.30 -0.36 0 0 0 0</pose><inertial><mass>1.0</mass><inertia><ixx>0.02</ixx><iyy>0.01</iyy><izz>0.02</izz></inertia></inertial><collision name="collision"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.10</length></cylinder></geometry></collision><visual name="visual"><pose>0 0 0 1.5708 0 0</pose><geometry><cylinder><radius>0.14</radius><length>0.10</length></cylinder></geometry><material><ambient>0.04 0.04 0.04 1</ambient><diffuse>0.04 0.04 0.04 1</diffuse></material></visual></link>
     <joint name="rear_right_joint" type="revolute"><parent>base_link</parent><child>rear_right_wheel</child><axis><xyz>0 1 0</xyz></axis></joint>
 
-    <link name="os_lidar"><pose>0 0 0.6 0 0 0</pose><inertial><mass>0.2</mass><inertia><ixx>0.001</ixx><iyy>0.001</iyy><izz>0.001</izz></inertia></inertial>
+    <link name="os_lidar"><pose>0 0 0.9 0 0 0</pose><inertial><mass>0.2</mass><inertia><ixx>0.001</ixx><iyy>0.001</iyy><izz>0.001</izz></inertia></inertial>
       <visual name="visual"><geometry><cylinder><radius>0.075</radius><length>0.10</length></cylinder></geometry><material><ambient>0.85 0.12 0.10 1</ambient><diffuse>0.85 0.12 0.10 1</diffuse></material></visual>
-      <sensor name="lidar_3d" type="ray"><always_on>true</always_on><update_rate>10</update_rate><visualize>false</visualize><ray><scan><horizontal><samples>360</samples><resolution>1</resolution><min_angle>-3.14159</min_angle><max_angle>3.14159</max_angle></horizontal><vertical><samples>16</samples><resolution>1</resolution><min_angle>-0.26</min_angle><max_angle>0.26</max_angle></vertical></scan><range><min>0.20</min><max>18.0</max><resolution>0.02</resolution></range></ray><plugin name="mkmini_lidar" filename="libgazebo_ros_ray_sensor.so"><ros><remapping>~/out:=/raw/lidar</remapping></ros><output_type>sensor_msgs/PointCloud2</output_type><frame_name>os_lidar</frame_name></plugin></sensor>
+      <sensor name="lidar_2d" type="ray"><always_on>true</always_on><update_rate>10</update_rate><visualize>true</visualize><ray><scan><horizontal><samples>360</samples><resolution>1</resolution><min_angle>-3.14159</min_angle><max_angle>3.14159</max_angle></horizontal><vertical><samples>1</samples><resolution>1</resolution><min_angle>0</min_angle><max_angle>0</max_angle></vertical></scan><range><min>0.20</min><max>18.0</max><resolution>0.02</resolution></range></ray><plugin name="mkmini_lidar" filename="libgazebo_ros_ray_sensor.so"><ros><remapping>~/out:=/raw/lidar</remapping></ros><output_type>sensor_msgs/PointCloud2</output_type><frame_name>os_lidar</frame_name></plugin></sensor>
     </link>
     <joint name="os_lidar_joint" type="fixed"><parent>base_link</parent><child>os_lidar</child></joint>