diff --git a/ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml b/ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml
index 10883ed..14bdd93 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml
+++ b/ros_packages/mrs_uav_gazebo_simulation/config/spawner_params.yaml
@@ -28,6 +28,7 @@ enable_velodyne: [False, 'Add Velodyne PUCK Lite laser scanner to the vehicle',
 enable_ouster: [False, 'Add Ouster laser scanner to the vehicle', [f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
 ouster_model: ['OS1-16', 'Choose the Ouster model. Options: OS0-32, OS0-64, OS0-128, OS1-16, OS1-32G1, OS1-32, OS1-64, OS1-128, OS2-32, OS2-64, OS2-128', [f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
 use_gpu_ray: [False, 'Laser ray casting will be handled by GPU shaders', [f330, f450, f550, t650, x500, eaglemk2, naki, big_dofec]]
+horizontal_samples: [None, 'Override default base number of horizontal samples for LiDARs', [f450, f550, t650, x500, naki]]
 enable_light: [False, 'Add light to the vehicle', [f450, f550, t650, x500, naki]]
 enable_servo_camera: [False, 'Add camera on virtual servo to the vehicle', [f450, f550, t650, naki]]
 enable_water_gun: [False, 'Add water gun for fire fighting', [t650]]
diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja
index 2b5b28f..7d3b374 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja
+++ b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/component_snippets.sdf.jinja
@@ -1501,7 +1501,12 @@ limitations under the License.
 <!--}-->
 
   <!-- Macro to add a RPlidar A3{-->
-{%- macro rplidar_macro(namespace, parent_link, x, y, z, roll, pitch, yaw) -%}
+{%- macro rplidar_macro(namespace, parent_link, horizontal_samples, x, y, z, roll, pitch, yaw) -%}
+{% if horizontal_samples == 'None' %}
+  {%- set samples = 14400 -%}
+{% else %}
+  {%- set samples = horizontal_samples | int -%}
+{% endif %}
 <link name="rplidar_link">
   <pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
   {{ zero_inertial_macro() }}
@@ -1541,7 +1546,7 @@ limitations under the License.
     <ray>
       <scan>
         <horizontal>
-          <samples>{{ 14400/20 }}</samples>
+          <samples>{{ samples/20 }}</samples>
           <resolution>1</resolution>
           <min_angle>-3.1241390751</min_angle>
           <max_angle>3.1241390751</max_angle>
@@ -1580,7 +1585,7 @@ limitations under the License.
 <!--}-->
 
 <!-- Macro to add a Velodyne Lidar {-->
-{%- macro velodyne_macro(namespace, parent_link, sensor_name, rot_freq, lasers, max_range, noise, vfov_angle, enable_gpu_ray, x, y, z, roll, pitch, yaw) -%}
+{%- macro velodyne_macro(namespace, parent_link, sensor_name, rot_freq, lasers, max_range, noise, vfov_angle, enable_gpu_ray, horizontal_samples, x, y, z, roll, pitch, yaw) -%}
 
 {# The real ouster is transforming lidar data from lidar_frame to sensor_frame directly for user. #}
 {# For simplicity, we are placing sensor_frame to the same place as the lidar_frame is. #}
@@ -1612,6 +1617,12 @@ limitations under the License.
   {%- set sensor_type = "ray"  -%}
 {% endif %}
 
+{% if horizontal_samples == 'None' %}
+  {%- set samples = 291200 -%}
+{% else %}
+  {%- set samples = horizontal_samples | int -%}
+{% endif %}
+
 <link name="velodyne_link">
   <pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
   {{ zero_inertial_macro() }}
@@ -1668,7 +1679,7 @@ limitations under the License.
     <ray>
       <scan>
         <horizontal>
-          <samples>{{ 291200/(rot_freq*lasers) }}</samples>
+          <samples>{{ samples/(rot_freq*lasers) }}</samples>
           <resolution>1</resolution>
           <min_angle>{{ -rad180 }}</min_angle>
           <max_angle>{{ rad180 }}</max_angle>
@@ -1722,7 +1733,7 @@ limitations under the License.
 <!-- Macro to add an Ouster Lidar {-->
 
 <!-- Macro to add an Generic Ouster Lidar {-->
-{%- macro generic_ouster_macro(namespace, parent_link, sensor_name, rot_freq, lasers, max_range, noise, vfov_angle, enable_gpu_ray, x, y, z, roll, pitch, yaw) -%}
+{%- macro generic_ouster_macro(namespace, parent_link, sensor_name, rot_freq, lasers, max_range, noise, vfov_angle, enable_gpu_ray, horizontal_samples, x, y, z, roll, pitch, yaw) -%}
 
 {# The real ouster is transforming lidar data from lidar_frame to sensor_frame directly for user. #}
 {# For simplicity, we are placing sensor_frame to the same place as the lidar_frame is. #}
@@ -1765,6 +1776,12 @@ limitations under the License.
   {%- set sensor_type = "ray"  -%}
 {% endif %}
 
+{% if horizontal_samples == 'None' %}
+  {%- set samples = 20480 -%}
+{% else %}
+  {%- set samples = horizontal_samples | int -%}
+{% endif %}
+
 <link name="{{ sensor_link }}">
   <pose>{{ x }} {{ y }} {{ z }} {{ roll }} {{ pitch }} {{ yaw }}</pose>
   {{ zero_inertial_macro() }}
@@ -1798,7 +1815,7 @@ limitations under the License.
       </script>
     </material>
   </visual>
-  
+
   {# IMU #}
   <sensor name="{{ sensor_name }}_imu_sensor" type="imu">
     <pose>{{ imu_x }} {{ imu_y }} {{ imu_z }} {{ imu_roll }} {{ imu_pitch }} {{ imu_yaw }}</pose>
@@ -1829,7 +1846,7 @@ limitations under the License.
   <!--   <headingGaussianNoise>0.005</headingGaussianNoise> -->
   <!-- </plugin> -->
   </sensor>
-  
+
   {# LIDAR #}
   <sensor name="{{ sensor_name }}_lidar_sensor" type="{{ sensor_type }}">
     <pose>{{ lidar_x }} {{ lidar_y }} {{ lidar_z }} {{ lidar_roll }} {{ lidar_pitch }} {{ lidar_yaw }}</pose>
@@ -1839,7 +1856,7 @@ limitations under the License.
     <ray>
       <scan>
         <horizontal>
-          <samples>{{ 20480/rot_freq }}</samples>
+          <samples>{{ samples/rot_freq }}</samples>
           <resolution>1</resolution>
           <min_angle>0</min_angle>
           <max_angle>{{ 2*pi }}</max_angle>
@@ -1902,7 +1919,7 @@ limitations under the License.
 {%- endmacro -%}
 <!--}-->
 
-{%- macro ouster_macro(namespace, parent_link, sensor_name, ouster_model, rot_freq, noise, enable_gpu_ray, x, y, z, roll, pitch, yaw) -%}
+{%- macro ouster_macro(namespace, parent_link, sensor_name, ouster_model, rot_freq, noise, enable_gpu_ray, horizontal_samples, x, y, z, roll, pitch, yaw) -%}
 
 <!-- Outster type selection {-->
 {#  default: OS1-16 Generation 1 - is specified in the config file #}
@@ -1999,6 +2016,7 @@ limitations under the License.
   max_range = range,
   noise = noise,
   enable_gpu_ray = enable_gpu_ray,
+  horizontal_samples = horizontal_samples,
   x = x,
   y = y,
   z = z,
diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f450.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f450.sdf.jinja
index e596537..4d34495 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f450.sdf.jinja
+++ b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f450.sdf.jinja
@@ -857,6 +857,7 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.1,
@@ -882,6 +883,7 @@
       max_range = 100,
       noise = 0.01,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.066,
@@ -904,6 +906,7 @@
       rot_freq = 10,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.066,
diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f550.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f550.sdf.jinja
index abe26c5..83934df 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f550.sdf.jinja
+++ b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/f550.sdf.jinja
@@ -1006,6 +1006,7 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.1,
@@ -1031,6 +1032,7 @@
       max_range = 100,
       noise = 0.01,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.066,
@@ -1053,6 +1055,7 @@
       rot_freq = 10,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.066,
diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja
index b82c923..b821cb8 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja
+++ b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/naki.sdf.jinja
@@ -782,6 +782,7 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.09,
@@ -804,6 +805,7 @@
       rot_freq = 10,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.0611,
diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/t650.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/t650.sdf.jinja
index ba35a1b..9d0ee68 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/t650.sdf.jinja
+++ b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/t650.sdf.jinja
@@ -213,7 +213,7 @@
         yaw = 0)
       }}
       <!--}-->
-      
+
       <!-- pixhawk {-->
       {{ components.visual_mesh_macro(
         name = "pixhawk",
@@ -392,7 +392,7 @@
       }}
       <!--}-->
       {% endif %}
-      
+
       {% if enable_rplidar or fire_challenge_blanket %}
       <!-- RPLidar mount {-->
       {{ components.visual_mesh_macro(
@@ -409,7 +409,7 @@
       }}
       <!--}-->
       {% endif %}
-     
+
       {% if enable_realsense_front %}
       <!-- Realsense mount {-->
       {{ components.visual_mesh_macro(
@@ -426,7 +426,7 @@
       }}
       <!--}-->
       {% endif %}
-     
+
       {% if enable_ouster or enable_velodyne %}
       <!-- Ouster mount {-->
       {{ components.visual_mesh_macro(
@@ -443,7 +443,7 @@
       }}
       <!--}-->
       {% endif %}
-     
+
       <!--}-->
     </link>
 
@@ -760,6 +760,7 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.107,
@@ -785,6 +786,7 @@
       max_range = 100,
       noise = 0.01,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.073,
@@ -807,6 +809,7 @@
       rot_freq = 10,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.073,
@@ -817,7 +820,7 @@
     <!--}-->
     {% endif %}
     {# <!--}--> #}
-    
+
     <!-- ========================= camera sensors ========================= -->
 
     <!-- Bluefox camera placements{-->
@@ -1269,10 +1272,10 @@
       yaw=-2.5665787)
     }}
     <!--}-->
-    
+
     <!--}-->
     {% endif %}
-    
+
     {% if fire_challenge_blanket %}
     <!-- fire_challenge_blanket {-->
 
@@ -1289,7 +1292,7 @@
       yaw = 0)
     }}
     <!--}-->
-    
+
     <!-- rplidar {-->
     {{ components.rplidar_macro(
       namespace = namespace,
@@ -1344,7 +1347,7 @@
       yaw = 0)
     }}
     <!--}-->
-    
+
     <!--}-->
     {% endif %}
     {# <!--}--> #}
diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/x500.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/x500.sdf.jinja
index 94dbe4e..b00afb9 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/x500.sdf.jinja
+++ b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/x500.sdf.jinja
@@ -832,6 +832,7 @@
     {{ components.rplidar_macro(
       namespace = namespace,
       parent_link = root,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.136,
@@ -854,6 +855,7 @@
       rot_freq = 10,
       noise = 0.03,
       enable_gpu_ray = use_gpu_ray,
+      horizontal_samples = horizontal_samples,
       x = 0.0,
       y = 0.0,
       z = 0.107,