diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
index c209b6b..49720b4 100644
--- a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
+++ b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
@@ -133,6 +133,37 @@
       </plugin>
   </gazebo>
 
+  <gazebo reference="lidar_link">
+      <sensor name='lidar' type='gpu_lidar'>"
+          <ignition_frame_id>lidar_link</ignition_frame_id>
+          <pose relative_to='lidar_link'>0 0 0 0 0 0</pose>
+          <topic>scan</topic>
+          <update_rate>10</update_rate>
+          <ray>
+              <scan>
+                  <horizontal>
+                      <samples>640</samples>
+                      <resolution>1</resolution>
+                      <min_angle>-3.1416</min_angle>
+                      <max_angle>3.1416</max_angle>
+                  </horizontal>
+                  <vertical>
+                      <samples>1</samples>
+                      <resolution>0.01</resolution>
+                      <min_angle>0</min_angle>
+                      <max_angle>0</max_angle>
+                  </vertical>
+              </scan>
+              <range>
+                  <min>1.0</min>
+                  <max>20.0</max>
+                  <resolution>0.05</resolution>
+              </range>
+          </ray>
+          <always_on>1</always_on>
+          <visualize>true</visualize>
+      </sensor>
+  </gazebo>
 
   <gazebo reference="camera_link">
       <sensor type="camera" name="camera_sensor">
@@ -157,12 +188,6 @@
           </camera>
           <always_on>1</always_on>
           <topic>image_raw</topic>
-          <plugin
-              filename="ignition-gazebo-sensors-system"
-              name="ignition::gazebo::systems::Sensors">
-              <render_engine>ogre2</render_engine>
-              <background_color>0.9 0.753 0.66 1</background_color>
-          </plugin>
       </sensor>
   </gazebo>
 
diff --git a/models/curiosity_path/urdf/sensor_mast.xacro b/models/curiosity_path/urdf/sensor_mast.xacro
index 2c084eb..5737d1a 100644
--- a/models/curiosity_path/urdf/sensor_mast.xacro
+++ b/models/curiosity_path/urdf/sensor_mast.xacro
@@ -268,6 +268,32 @@
         <origin xyz="0.13642 -0.218683 0.222314" rpy="0 0 ${-PI/2}"/>
     </joint>
 
+  	<link name="lidar_link">
+        <!-- Inertial for gazebo to take it into account, Put 1gr weight -->
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.001" />
+            <inertia ixx="9.1875e-09" ixy="0.0" ixz="0.0" iyy="9.1875e-09" iyz="0.0" izz="1.378125e-08"/>
+        </inertial>
+		<visual>
+            <origin rpy="0.0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <cylinder radius="0.05" length="0.02"/>
+            </geometry>
+            <material name="black"/>
+        </visual>
+	</link>
+
+    <gazebo reference="lidar_link">
+        <material>Gazebo/Black</material>
+    </gazebo>
+
+    <joint name="lidar_joint" type="fixed">
+        <parent link="mast_cameras"/>
+        <child link="lidar_link"/>
+        <origin xyz="0 0 0.325" rpy="0 0 ${-PI/2}"/>
+    </joint>
+
   </xacro:macro>
 
 </robot>