diff --git a/example_11/bringup/config/carlikebot_controllers.yaml b/example_11/bringup/config/carlikebot_controllers.yaml
index bd2c9d9e0..cc9bc55ba 100644
--- a/example_11/bringup/config/carlikebot_controllers.yaml
+++ b/example_11/bringup/config/carlikebot_controllers.yaml
@@ -5,28 +5,25 @@ controller_manager:
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-    ackermann_steering_controller:
-      type: ackermann_steering_controller/AckermannSteeringController
+    bicycle_steering_controller:
+      type: bicycle_steering_controller/BicycleSteeringController
 
 
-ackermann_steering_controller:
+bicycle_steering_controller:
   ros__parameters:
-
-    reference_timeout: 2.0
+    wheelbase: 0.325
+    front_wheel_radius: 0.05
+    rear_wheel_radius: 0.05
     front_steering: true
+    reference_timeout: 2.0
+    rear_wheels_names: ['virtual_rear_wheel_joint']
+    front_wheels_names: ['virtual_front_wheel_joint']
     open_loop: false
     velocity_rolling_window_size: 10
-    position_feedback: true
-    use_stamped_vel: false
-    front_wheels_names: [right_steering_joint, left_steering_joint]
-    rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
-    odom_frame_id: odom
     base_frame_id: base_link
+    odom_frame_id: odom
     enable_odom_tf: true
-    in_chained_mode: false
-
-    wheelbase: 0.325
-    front_wheel_track: 0.2
-    rear_wheel_track: 0.2
-    front_wheels_radius: 0.05
-    rear_wheels_radius: 0.05
+    twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
+    pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
+    position_feedback: false
+    use_stamped_vel: true
diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
index 40b3285a5..cedfe33e8 100644
--- a/example_11/bringup/launch/carlikebot.launch.py
+++ b/example_11/bringup/launch/carlikebot.launch.py
@@ -56,16 +56,22 @@ def generate_launch_description():
         ]
     )
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("ros2_control_demo_description"), "carlikebot/rviz", "carlikebot.rviz"]
+        [
+            FindPackageShare("ros2_control_demo_description"),
+            "carlikebot/rviz",
+            "carlikebot.rviz",
+        ]
     )
 
     # the steering controller libraries by default publish odometry on a separate topic than /tf
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_controllers],
         output="both",
-        remappings=[("/ackermann_steering_controller/tf_odometry", "/tf")],
+        remappings=[
+            ("~/robot_description", "/robot_description"),
+        ],
     )
     robot_state_pub_ackermann_node = Node(
         package="robot_state_publisher",
@@ -73,7 +79,8 @@ def generate_launch_description():
         output="both",
         parameters=[robot_description],
         remappings=[
-            ("/ackermann_steering_controller/reference_unstamped", "/cmd_vel"),
+            ("/bicycle_steering_controller/reference", "/reference"),
+            ("~/robot_description", "/robot_description"),
         ],
     )
     rviz_node = Node(
@@ -94,7 +101,7 @@ def generate_launch_description():
     robot_ackermann_controller_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["ackermann_steering_controller", "--controller-manager", "/controller_manager"],
+        arguments=["bicycle_steering_controller", "--controller-manager", "/controller_manager"],
     )
 
     # Delay rviz start after `joint_state_broadcaster`
diff --git a/example_11/description/ros2_control/carlikebot.ros2_control.xacro b/example_11/description/ros2_control/carlikebot.ros2_control.xacro
index 4106601a6..f1c547068 100644
--- a/example_11/description/ros2_control/carlikebot.ros2_control.xacro
+++ b/example_11/description/ros2_control/carlikebot.ros2_control.xacro
@@ -10,29 +10,14 @@
         <param name="example_param_hw_stop_duration_sec">3.0</param>
         <param name="is_simulation">1</param>
       </hardware>
-      <joint name="${prefix}front_left_steering_joint">
+      <joint name="${prefix}virtual_front_wheel_joint">
         <command_interface name="position"/>
         <state_interface name="position"/>
       </joint>
-      <joint name="${prefix}front_right_steering_joint">
-        <command_interface name="position"/>
-        <state_interface name="position"/>
-      </joint>
-      <joint name="${prefix}front_left_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="${prefix}front_right_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="${prefix}rear_left_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="${prefix}rear_right_wheel_joint">
+      <joint name="${prefix}virtual_rear_wheel_joint">
         <command_interface name="velocity"/>
         <state_interface name="velocity"/>
+        <state_interface name="position"/>
       </joint>
     </ros2_control>
 
diff --git a/example_11/hardware/carlikebot_system.cpp b/example_11/hardware/carlikebot_system.cpp
index 5f16ebd3c..4d5f8b747 100644
--- a/example_11/hardware/carlikebot_system.cpp
+++ b/example_11/hardware/carlikebot_system.cpp
@@ -37,21 +37,21 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
   }
 
   // Check if the number of joints is correct based on the mode of operation
-  if (info_.joints.size() != 6)
+  if (info_.joints.size() != 2)
   {
     RCLCPP_ERROR(
       rclcpp::get_logger("CarlikeBotSystemHardware"),
       "CarlikeBotSystemHardware::on_init() - Failed to initialize, "
-      "because the number of joints %ld is not 6.",
+      "because the number of joints %ld is not 2.",
       info_.joints.size());
     return hardware_interface::CallbackReturn::ERROR;
   }
 
   for (const hardware_interface::ComponentInfo & joint : info_.joints)
   {
-    bool joint_is_steering = joint.name.find("steering") != std::string::npos;
+    bool joint_is_steering = joint.name.find("front") != std::string::npos;
 
-    // Steering joints have a position command and state interface
+    // Steering joints have a position command interface and a position state interface
     if (joint_is_steering)
     {
       RCLCPP_INFO(
@@ -100,7 +100,7 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
         rclcpp::get_logger("CarlikeBotSystemHardware"), "Joint '%s' is a drive joint.",
         joint.name.c_str());
 
-      // Drive joints have a velocity command interface and velocity and position state interface
+      // Drive joints have a velocity command interface and a velocity state interface
       if (joint.command_interfaces.size() != 1)
       {
         RCLCPP_FATAL(
@@ -119,7 +119,7 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
         return hardware_interface::CallbackReturn::ERROR;
       }
 
-      if (joint.state_interfaces.size() != 1)
+      if (joint.state_interfaces.size() != 2)
       {
         RCLCPP_FATAL(
           rclcpp::get_logger("CarlikeBotSystemHardware"),
@@ -136,6 +136,15 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
           joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY);
         return hardware_interface::CallbackReturn::ERROR;
       }
+
+      if (joint.state_interfaces[1].name != hardware_interface::HW_IF_POSITION)
+      {
+        RCLCPP_FATAL(
+          rclcpp::get_logger("CarlikeBotSystemHardware"),
+          "Joint '%s' has %s state interface. '%s' expected.", joint.name.c_str(),
+          joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_POSITION);
+        return hardware_interface::CallbackReturn::ERROR;
+      }
     }
   }
 
@@ -145,11 +154,14 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
   hw_stop_sec_ = std::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
   // // END: This part here is for exemplary purposes - Please do not copy to your production code
 
-  // joint name, state, command
-  hw_interfaces_.resize(
-    6, std::make_tuple(
-         std::string(), std::numeric_limits<double>::quiet_NaN(),
-         std::numeric_limits<double>::quiet_NaN()));
+  hw_interfaces_["steering"] = Joint(
+    "virtual_front_wheel_joint"
+  );
+
+  hw_interfaces_["traction"] = Joint(
+    "virtual_rear_wheel_joint"
+  );
+
 
   return hardware_interface::CallbackReturn::SUCCESS;
 }
@@ -158,34 +170,23 @@ std::vector<hardware_interface::StateInterface> CarlikeBotSystemHardware::export
 {
   std::vector<hardware_interface::StateInterface> state_interfaces;
 
-  for (auto i = 0u; i < info_.joints.size(); i++)
+  for (auto & joint : hw_interfaces_)
   {
-    bool joint_is_steering = info_.joints[i].name.find("steering") != std::string::npos;
-
-    // if joint name not in hw_interfaces_, add it
-    if (std::get<0>(hw_interfaces_[i]).empty())
-    {
-      std::get<0>(hw_interfaces_[i]) = info_.joints[i].name;
-    }
-
-    // get the index of the joint name in hw_interfaces_
-    auto it = std::find_if(
-      hw_interfaces_.begin(), hw_interfaces_.end(),
-      [this, i](const std::tuple<std::string, double, double> & element)
-      { return std::get<0>(element) == info_.joints[i].name; });
+    state_interfaces.emplace_back(
+      hardware_interface::StateInterface(
+        joint.second.joint_name, hardware_interface::HW_IF_POSITION, &joint.second.state.position));
 
-    if (joint_is_steering)
-    {
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &std::get<1>(*it)));
-    }
-    else
+    if (joint.first == "traction")
     {
-      state_interfaces.emplace_back(hardware_interface::StateInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &std::get<1>(*it)));
+      state_interfaces.emplace_back(
+        hardware_interface::StateInterface(
+          joint.second.joint_name, hardware_interface::HW_IF_VELOCITY,
+          &joint.second.state.velocity));
     }
   }
 
+  
+
   RCLCPP_INFO(
     rclcpp::get_logger("CarlikeBotSystemHardware"), "Exported %zu state interfaces.",
     state_interfaces.size());
@@ -205,31 +206,21 @@ CarlikeBotSystemHardware::export_command_interfaces()
 {
   std::vector<hardware_interface::CommandInterface> command_interfaces;
 
-  for (uint i = 0; i < info_.joints.size(); i++)
+  for (auto & joint : hw_interfaces_)
   {
-    bool joint_is_steering = info_.joints[i].name.find("steering") != std::string::npos;
-
-    // if joint name not in hw_interfaces_, add it
-    if (std::get<0>(hw_interfaces_[i]).empty())
+    if (joint.first == "steering")
     {
-      std::get<0>(hw_interfaces_[i]) = info_.joints[i].name;
+      command_interfaces.emplace_back(
+        hardware_interface::CommandInterface(
+          joint.second.joint_name, hardware_interface::HW_IF_POSITION,
+          &joint.second.command.position));
     }
-
-    // get the index of the joint name in hw_interfaces_
-    auto it = std::find_if(
-      hw_interfaces_.begin(), hw_interfaces_.end(),
-      [this, i](const std::tuple<std::string, double, double> & element)
-      { return std::get<0>(element) == info_.joints[i].name; });
-
-    if (joint_is_steering)
+    else if (joint.first == "traction")
     {
-      command_interfaces.emplace_back(hardware_interface::CommandInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &std::get<2>(*it)));
-    }
-    else
-    {
-      command_interfaces.emplace_back(hardware_interface::CommandInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &std::get<2>(*it)));
+      command_interfaces.emplace_back(
+        hardware_interface::CommandInterface(
+          joint.second.joint_name, hardware_interface::HW_IF_VELOCITY,
+          &joint.second.command.velocity));
     }
   }
 
@@ -259,10 +250,20 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_activate(
       rclcpp::get_logger("CarlikeBotSystemHardware"), "%.1f seconds left...", hw_start_sec_ - i);
   }
 
-  for (uint i = 0; i < hw_interfaces_.size(); i++)
+  for (auto & joint : hw_interfaces_)
   {
-    std::get<1>(hw_interfaces_[i]) = 0.0;
-    std::get<2>(hw_interfaces_[i]) = 0.0;
+    joint.second.state.position = 0.0;
+
+    if (joint.first == "traction")
+    {
+      joint.second.state.velocity = 0.0;
+      joint.second.command.velocity = 0.0;
+    }
+
+    else if (joint.first == "steering")
+    {
+      joint.second.command.position = 0.0;
+    }
   }
 
   RCLCPP_INFO(rclcpp::get_logger("CarlikeBotSystemHardware"), "Successfully activated!");
@@ -292,26 +293,17 @@ hardware_interface::return_type CarlikeBotSystemHardware::read(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & period)
 {
   // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
-  for (std::size_t i = 0; i < hw_interfaces_.size(); ++i)
+  for (auto & joint : hw_interfaces_)
   {
-    // Simulate CarlikeBot wheels' movement as a first-order system
-    // Update the joint status: this is a revolute joint without any limit.
-    // Simply integrates
-    bool is_steering_joint = std::get<0>(hw_interfaces_[i]).find("steering") != std::string::npos;
-
-    if (is_steering_joint)
+    if (joint.first == "steering")
     {
-      std::get<1>(hw_interfaces_[i]) = std::get<2>(hw_interfaces_[i]);
+      joint.second.state.position = joint.second.command.position;
     }
-    else
+    else if (joint.first == "traction")
     {
-      std::get<1>(hw_interfaces_[i]) += period.seconds() * std::get<2>(hw_interfaces_[i]);
+      joint.second.state.velocity = joint.second.command.velocity;
+      joint.second.state.position += joint.second.state.velocity * period.seconds();
     }
-
-    // RCLCPP_INFO(
-    //   rclcpp::get_logger("CarlikeBotSystemHardware"),
-    //   "Got position state %.5f and velocity state %.5f for '%s'", hw_positions_[i],
-    //   hw_velocities_[i], info_.joints[i].name.c_str());
   }
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
@@ -323,15 +315,30 @@ hardware_interface::return_type ros2_control_demo_example_11 ::CarlikeBotSystemH
 {
   RCLCPP_INFO(rclcpp::get_logger("CarlikeBotSystemHardware"), "Writing...");
 
-  for (auto i = 0u; i < hw_interfaces_.size(); ++i)
+  // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
+  for (auto & joint : hw_interfaces_)
   {
-    // hw_velocities_[i] = hw_commands_[i];
-    std::get<2>(hw_interfaces_[i]) = std::get<2>(hw_interfaces_[i]);
-
-    // RCLCPP_INFO(
-    //   rclcpp::get_logger("CarlikeBotSystemHardware"), "Got command %.5f for '%s'",
-    //   hw_commands_[i], info_.joints[i].name.c_str());
+    if (joint.first == "steering")
+    {
+      RCLCPP_INFO(
+        rclcpp::get_logger("CarlikeBotSystemHardware"), "Writing to steering joint '%s'.",
+        joint.second.joint_name.c_str());
+      RCLCPP_INFO(
+        rclcpp::get_logger("CarlikeBotSystemHardware"), "Position command: %.2f.",
+        joint.second.command.position);
+    }
+    else if (joint.first == "traction")
+    {
+      RCLCPP_INFO(
+        rclcpp::get_logger("CarlikeBotSystemHardware"), "Writing to traction joint '%s'.",
+        joint.second.joint_name.c_str());
+      RCLCPP_INFO(
+        rclcpp::get_logger("CarlikeBotSystemHardware"), "Velocity command: %.2f.",
+        joint.second.command.velocity);
+    }
   }
+  // END: This part here is for exemplary purposes - Please do not copy to your production code
+
 
   return hardware_interface::return_type::OK;
 }
diff --git a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
index f1556a8cc..6de2c646e 100644
--- a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
+++ b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
@@ -36,6 +36,30 @@
 
 namespace ros2_control_demo_example_11
 {
+struct JointValue
+{
+    double position{0.0};
+    double velocity{0.0};
+    double effort{0.0};
+};
+
+struct Joint
+{
+    Joint(
+        const std::string & name
+        ) :
+        joint_name(name)
+        {
+            state = JointValue();
+            command = JointValue();
+        }
+
+    Joint() = default;
+
+    std::string joint_name;
+    JointValue state;
+    JointValue command;
+};
 class CarlikeBotSystemHardware : public hardware_interface::SystemInterface
 {
 public:
@@ -72,9 +96,9 @@ class CarlikeBotSystemHardware : public hardware_interface::SystemInterface
   double hw_start_sec_;
   double hw_stop_sec_;
 
-  std::vector<std::tuple<std::string, double, double>>
-    hw_interfaces_;  // name of joint, state, command
-
+  // std::vector<std::tuple<std::string, double, double>>
+  //   hw_interfaces_;  // name of joint, state, command
+  std::map<std::string, Joint> hw_interfaces_;
 };
 
 }  // namespace ros2_control_demo_example_11
diff --git a/example_11/package.xml b/example_11/package.xml
index 634813127..c690fb943 100644
--- a/example_11/package.xml
+++ b/example_11/package.xml
@@ -21,7 +21,7 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>topic_tools</depend>
 
-  <exec_depend>ackermann_steering_controller</exec_depend>
+  <exec_depend>bicycle_steering_controller</exec_depend>
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
diff --git a/ros2_control_demo_description/carlikebot/urdf/carlikebot_description.urdf.xacro b/ros2_control_demo_description/carlikebot/urdf/carlikebot_description.urdf.xacro
index 6af69eff0..3f2024c17 100644
--- a/ros2_control_demo_description/carlikebot/urdf/carlikebot_description.urdf.xacro
+++ b/ros2_control_demo_description/carlikebot/urdf/carlikebot_description.urdf.xacro
@@ -39,10 +39,10 @@
     <inertial>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <mass value="${base_mass}"/>
-      <inertia
-        ixx="${base_mass / 12.0 * (base_length*base_length + base_height*base_height)}" ixy="0.0" ixz="0.0"
-        iyy="${base_mass / 12.0 * (base_height*base_height + base_width*base_width)}" iyz="0.0"
-        izz="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}"/>
+        <inertia
+          ixx="0.000270" ixy="0.0" ixz="0.0"
+          iyy="0.000270" iyz="0.0"
+          izz="0.000426"/>
       </inertial>
     </link>
 
@@ -73,7 +73,7 @@
       <parent link="${prefix}chassis_link"/>
       <child link="${prefix}virtual_rear_wheel"/>
       <origin xyz="-${wheelbase/2} 0 -${base_height/2}" rpy="0 0 ${PI/2}"/>
-      <axis xyz="-1 0 0"/>
+      <axis xyz="1 0 0"/>
       <limit effort="100.0" velocity="100.0"/>
       <dynamics damping="0.2"/>
     </joint>
@@ -100,9 +100,9 @@
         <origin xyz="0 0 0" rpy="${PI/2} 0 ${PI/2}"/>
         <mass value="${wheel_mass}"/>
         <inertia
-          ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
-          iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
-          izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
+          ixx="0.000270" ixy="0.0" ixz="0.0"
+          iyy="0.000270" iyz="0.0"
+          izz="0.000426"/>
       </inertial>
 
     </link>
@@ -111,7 +111,7 @@
       <parent link="${prefix}chassis_link"/>
       <child link="${prefix}rear_right_wheel"/>
       <origin xyz="-${wheelbase/2} ${base_width/2} -${base_height/2}" rpy="0 0 ${PI/2}"/>
-      <axis xyz="-1 0 0"/>
+      <axis xyz="1 0 0"/>
       <limit effort="100.0" velocity="100.0"/>
       <dynamics damping="0.2"/>
       <mimic joint="${prefix}virtual_rear_wheel_joint" multiplier="1.0" offset="0.0"/>
@@ -138,9 +138,9 @@
           <origin xyz="0 0 0" rpy="${PI/2} 0 ${PI/2}"/>
           <mass value="${wheel_mass}"/>
           <inertia
-            ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
-            iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
-            izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
+            ixx="0.000270" ixy="0.0" ixz="0.0"
+            iyy="0.000270" iyz="0.0"
+            izz="0.000426"/>
         </inertial>
 
     </link>
@@ -149,7 +149,7 @@
       <parent link="${prefix}chassis_link" />
       <child link="${prefix}rear_left_wheel" />
       <origin xyz="-${wheelbase/2} -${base_width/2} -${base_height/2}" rpy="0 0 ${PI/2}"/>
-      <axis xyz="-1 0 0"/>
+      <axis xyz="1 0 0"/>
       <limit effort="100.0" velocity="100.0"/>
       <dynamics damping="0.2"/>
       <mimic joint="${prefix}virtual_rear_wheel_joint" multiplier="1.0" offset="0.0"/>
@@ -157,7 +157,7 @@
 
     <!-- front wheels -->
 
-    <!-- virtual front steering -->
+    <!-- virtual front wheel -->
 
     <link name="${prefix}virtual_front_wheel">
       <visual>
@@ -178,7 +178,7 @@
       <dynamics damping="0.2"/>
     </joint>
 
-    <!-- front right steering -->
+    <!-- front right wheel -->
 
 
     <link name="${prefix}front_right_wheel">
@@ -202,9 +202,9 @@
         <origin xyz="0 0 0" rpy="${PI/2} 0 ${PI/2}"/>
         <mass value="${wheel_mass}"/>
         <inertia
-          ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
-          iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
-          izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
+          ixx="0.000270" ixy="0.0" ixz="0.0"
+          iyy="0.000270" iyz="0.0"
+          izz="0.000426"/>
       </inertial>
     </link>
 
@@ -241,9 +241,9 @@
         <origin xyz="0 0 0" rpy="${PI/2} 0 ${PI/2}"/>
         <mass value="${wheel_mass}"/>
         <inertia
-          ixx="${wheel_mass / 12.0 * (3 * wheel_radius + wheel_len * wheel_len)}" ixy="0.0" ixz="0.0"
-          iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
-          izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
+          ixx="0.000270" ixy="0.0" ixz="0.0"
+          iyy="0.000270" iyz="0.0"
+          izz="0.000426"/>
       </inertial>
 
     </link>