diff --git a/urdf/rover/rover.urdf.xacro b/urdf/rover/rover.urdf.xacro
index 71512c19e..17fa5530b 100644
--- a/urdf/rover/rover.urdf.xacro
+++ b/urdf/rover/rover.urdf.xacro
@@ -1,194 +1,219 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rover">
 
-  <xacro:property name="base_width" value="0.7357"/>
-  <xacro:property name="base_len" value="1.0"/>
-  <xacro:property name="base_height" value="0.6"/>
-  <xacro:property name="wheel_radius" value="0.13"/>
-  <xacro:property name="wheel_width" value="0.1"/>
-  <xacro:property name="wheel_mass" value="2"/>
+  <xacro:property name="base_width" value="0.7357" />
+  <xacro:property name="base_len" value="1.0" />
+  <xacro:property name="base_height" value="0.6" />
+  <xacro:property name="wheel_radius" value="0.13" />
+  <xacro:property name="wheel_width" value="0.1" />
+  <xacro:property name="wheel_mass" value="2" />
 
-  <xacro:property name="PI" value="3.141592"/>
+  <xacro:property name="PI" value="3.141592" />
 
   <!-- Inertial macros-->
   <xacro:macro name="cylinder_inertia" params="m r h">
     <inertial>
-      <mass value="${m}"/>
-      <inertia ixx="${m*(3*r*r+h*h)/12}" ixy="0" ixz="0" iyy="${m*(3*r*r+h*h)/12}" iyz="0" izz="${m*r*r/2}"/>
+      <mass value="${m}" />
+      <inertia ixx="${m*(3*r*r+h*h)/12}" ixy="0" ixz="0" iyy="${m*(3*r*r+h*h)/12}" iyz="0"
+        izz="${m*r*r/2}" />
     </inertial>
   </xacro:macro>
 
   <xacro:macro name="box_inertia" params="m w h d">
     <inertial>
-      <mass value="${m}"/>
-      <inertia ixx="${m / 12.0 * (d*d + h*h)}" ixy="0.0" ixz="0.0" iyy="${m / 12.0 * (w*w + h*h)}" iyz="0.0" izz="${m / 12.0 * (w*w + d*d)}"/>
+      <mass value="${m}" />
+      <inertia ixx="${m / 12.0 * (d*d + h*h)}" ixy="0.0" ixz="0.0" iyy="${m / 12.0 * (w*w + h*h)}"
+        iyz="0.0" izz="${m / 12.0 * (w*w + d*d)}" />
     </inertial>
   </xacro:macro>
 
   <xacro:macro name="sphere_inertia" params="m r">
     <inertial>
-      <mass value="${m}"/>
-      <inertia ixx="${2.0*m*(r*r)/5.0}" ixy="0.0" ixz="0.0" iyy="${2.0*m*(r*r)/5.0}" iyz="0.0" izz="${2.0*m*(r*r)/5.0}"/>
+      <mass value="${m}" />
+      <inertia ixx="${2.0*m*(r*r)/5.0}" ixy="0.0" ixz="0.0" iyy="${2.0*m*(r*r)/5.0}" iyz="0.0"
+        izz="${2.0*m*(r*r)/5.0}" />
     </inertial>
   </xacro:macro>
 
   <!-- Links -->
 
-  <link name="base_link"/>
+  <link name="base_link" />
 
   <link name="chassis_link">
-    <xacro:box_inertia m="3.0" w="${base_len}" h="${base_width}" d="${base_height}"/>
+    <xacro:box_inertia m="3.0" w="${base_len}" h="${base_width}" d="${base_height}" />
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0" />
       <geometry>
-        <mesh filename="package://mrover/urdf/meshes/rover.dae"/>
+        <mesh filename="package://mrover/urdf/meshes/rover.dae" />
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <box size="${base_len} ${base_width} ${base_height}"/>
+        <box size="${base_len} ${base_width} ${base_height}" />
       </geometry>
     </collision>
   </link>
 
   <xacro:macro name="wheel" params="side reflect">
     <link name="front_${side}_wheel_link">
-      <xacro:sphere_inertia m="${wheel_mass}" r="${wheel_radius}"/>
+      <xacro:sphere_inertia m="${wheel_mass}" r="${wheel_radius}" />
       <visual>
-        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0"/>
+        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0" />
         <geometry>
-          <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae"/>
+          <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae" />
         </geometry>
       </visual>
       <collision>
         <geometry>
-          <sphere radius="${wheel_radius}"/>
+          <sphere radius="${wheel_radius}" />
         </geometry>
       </collision>
     </link>
 
     <link name="center_${side}_wheel_link">
-      <xacro:cylinder_inertia m="${wheel_mass}" r="${wheel_radius}" h="${wheel_width}"/>
+      <xacro:cylinder_inertia m="${wheel_mass}" r="${wheel_radius}" h="${wheel_width}" />
       <visual>
-        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0"/>
+        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0" />
         <geometry>
-          <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae"/>
+          <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae" />
         </geometry>
       </visual>
       <collision>
         <geometry>
-          <cylinder length="${wheel_width}" radius="${wheel_radius}"/>
+          <cylinder length="${wheel_width}" radius="${wheel_radius}" />
         </geometry>
       </collision>
     </link>
 
     <link name="back_${side}_wheel_link">
-      <xacro:sphere_inertia m="${wheel_mass}" r="${wheel_radius}"/>
+      <xacro:sphere_inertia m="${wheel_mass}" r="${wheel_radius}" />
 
       <visual>
-        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0"/>
+        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0" />
         <geometry>
-          <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae"/>
+          <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae" />
         </geometry>
       </visual>
       <collision>
         <geometry>
-          <sphere radius="${wheel_radius}"/>
+          <sphere radius="${wheel_radius}" />
         </geometry>
       </collision>
     </link>
 
     <joint name="front_${side}_wheel_joint" type="continuous">
-      <parent link="chassis_link"/>
-      <child link="front_${side}_wheel_link"/>
-      <origin xyz="0.42 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0"/>
-      <axis xyz="0 0 1"/>
+      <parent link="chassis_link" />
+      <child link="front_${side}_wheel_link" />
+      <origin xyz="0.42 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0" />
+      <axis xyz="0 0 1" />
     </joint>
 
     <joint name="center_${side}_wheel_joint" type="continuous">
-      <parent link="chassis_link"/>
-      <child link="center_${side}_wheel_link"/>
-      <origin xyz="0 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0"/>
-      <axis xyz="0 0 1"/>
+      <parent link="chassis_link" />
+      <child link="center_${side}_wheel_link" />
+      <origin xyz="0 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0" />
+      <axis xyz="0 0 1" />
     </joint>
 
     <joint name="back_${side}_wheel_joint" type="continuous">
-      <parent link="chassis_link"/>
-      <child link="back_${side}_wheel_link"/>
-      <origin xyz="-0.42 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0"/>
-      <axis xyz="0 0 1"/>
+      <parent link="chassis_link" />
+      <child link="back_${side}_wheel_link" />
+      <origin xyz="-0.42 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0" />
+      <axis xyz="0 0 1" />
     </joint>
   </xacro:macro>
 
   <!-- Joints -->
 
   <joint name="base_link_to_chassis" type="fixed">
-    <origin xyz="0 0 0.5"/>
-    <parent link="base_link"/>
-    <child link="chassis_link"/>
+    <origin xyz="0 0 0.5" />
+    <parent link="base_link" />
+    <child link="chassis_link" />
   </joint>
 
   <!-- IMU -->
   <joint name="imu_joint" type="fixed">
-    <origin xyz="0 0 0.2"/>
-    <parent link="chassis_link"/>
-    <child link="imu_link"/>
+    <origin xyz="0 0 0.2" />
+    <parent link="chassis_link" />
+    <child link="imu_link" />
   </joint>
 
-  <link name="imu_link"/>
+  <link name="imu_link" />
 
-  <!-- Camera -->
+  <!-- Long Range Camera -->
+  <joint name="long_range_camera_joint" type="fixed">
+    <origin xyz="0 0 0.1" />
+    <parent link="chassis_link" />
+    <child link="long_range_camera_link" />
+  </joint>
+
+  <link name="long_range_camera_link">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.1 0.01" />
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="1e-5" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+    </inertial>
+  </link>
+
+  <!-- Depth Camera -->
   <joint name="camera_joint" type="fixed">
-    <origin xyz="0 0 0.1"/>
-    <parent link="chassis_link"/>
-    <child link="camera_link"/>
+    <origin xyz="0 0 0.1" />
+    <parent link="chassis_link" />
+    <child link="camera_link" />
   </joint>
 
   <link name="camera_link">
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <box size="0.01 0.1 0.01"/>
+        <box size="0.01 0.1 0.01" />
       </geometry>
     </collision>
 
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://mrover/urdf/meshes/zed2i.dae"/>
+        <mesh filename="package://mrover/urdf/meshes/zed2i.dae" />
       </geometry>
     </visual>
 
     <inertial>
-      <mass value="1e-5"/>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+      <mass value="1e-5" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
     </inertial>
   </link>
 
   <!-- Left Camera -->
   <joint name="left_camera_joint" type="fixed">
-    <origin xyz="0 -0.05 0.1"/>
-    <parent link="chassis_link"/>
-    <child link="left_camera_link"/>
+    <origin xyz="0 -0.05 0.1" />
+    <parent link="chassis_link" />
+    <child link="left_camera_link" />
   </joint>
 
   <link name="left_camera_link">
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <box size="0.06 0.01 0.06"/>
+        <box size="0.06 0.01 0.06" />
       </geometry>
     </collision>
 
     <inertial>
-      <mass value="1e-5"/>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+      <mass value="1e-5" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
     </inertial>
   </link>
 
-  <xacro:include filename="$(find mrover)/urdf/rover/rover_gazebo_plugins.urdf.xacro"/>
-  <xacro:wheel side="left" reflect="1"/>
-  <xacro:wheel side="right" reflect="-1"/>
-</robot>
+  <xacro:include filename="$(find mrover)/urdf/rover/rover_gazebo_plugins.urdf.xacro" />
+  <xacro:wheel side="left" reflect="1" />
+  <xacro:wheel side="right" reflect="-1" />
+</robot>
\ No newline at end of file
diff --git a/urdf/rover/rover_gazebo_plugins.urdf.xacro b/urdf/rover/rover_gazebo_plugins.urdf.xacro
index 5bcf12bd6..f310f6802 100644
--- a/urdf/rover/rover_gazebo_plugins.urdf.xacro
+++ b/urdf/rover/rover_gazebo_plugins.urdf.xacro
@@ -76,7 +76,49 @@
     </plugin>
   </gazebo>
 
-  <!-- camera -->
+
+  <!-- long range camera -->
+  <gazebo reference="long_range_camera_link">
+    <sensor type="camera" name="long_range_camera">
+      <update_rate>5</update_rate>
+      <camera>
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>1920</width>
+          <height>1080</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise is sampled independently per pixel on each frame.
+              That pixel's noise value is added to each of its color
+              channels, which at that point lie in the range [0,1]. -->
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>0.0</updateRate>
+        <cameraName>long_range_cam</cameraName>
+        <imageTopicName>image_raw</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>long_range_cam_link</frameName>
+        <hackBaseline>0.07</hackBaseline>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+  <!-- depth camera -->
   <gazebo reference="camera_link">
     <sensor name="camera_link_camera" type="depth">
       <update_rate>15</update_rate>
@@ -118,4 +160,4 @@
       </plugin>
     </sensor>
   </gazebo>
-</robot>
+</robot>
\ No newline at end of file