diff --git a/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro b/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro
index 0fd135f71..983613647 100644
--- a/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro
+++ b/src/control/ros2_control/description/qev3d.ros2_control.urdf.xacro
@@ -4,7 +4,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="qev3d_ros2_control" params="name prefix">
+  <xacro:macro name="qev3d_ros2_control" params="name prefix"> <!--Template for the QEV-3D ros2_control description -->
 
     <ros2_control name="${name}" type="system">
       <hardware>
@@ -12,12 +12,16 @@
         <param name="example_param_hw_start_duration_sec">0</param>
         <param name="example_param_hw_stop_duration_sec">3.0</param>
       </hardware>
-      <joint name="${prefix}front_wheel_joint">
+      <joint name="${prefix}virtual_front_wheel_joint">
         <command_interface name="position"/>
+          <param name = "min">-0.28</param>
+          <param name = "max">0.28</param>
         <state_interface name="position"/>
       </joint>
-      <joint name="${prefix}rear_wheel_joint">
+      <joint name="${prefix}virtual_rear_wheel_joint">
         <command_interface name="velocity"/>
+          <param name = "min">-10</param>
+          <param name = "max">10</param>>
         <state_interface name="velocity"/>
         <state_interface name="position"/>
       </joint>
diff --git a/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro b/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
index bad99f69d..be7c01ce3 100644
--- a/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
+++ b/src/operations/vehicle_urdf/urdf/vehicle.urdf.xacro
@@ -74,11 +74,13 @@
         <limit lower="0" upper="0" effort="10000000" velocity="1000000"/>
       </joint>
 
+      <!-- Add the wheel -->
       <xacro:wheel lr_prefix="${lr_prefix}" fr_prefix="front"/>
     </xacro:macro>
 
     <!-- Description of how a rear wheel is connected to the chassis -->
     <xacro:macro name="rear_wheel" params="lr_prefix lr_reflect">
+
       <joint name="rear_${lr_prefix}_wheel_joint" type="fixed">
         <origin xyz="${-1 * wheelbase / 2}
                      ${lr_reflect * ((chassis_width - wheel_width) / 2)}
@@ -101,10 +103,10 @@
     <!-- right_front_wheel -->
     <xacro:front_wheel lr_prefix="right" lr_reflect="-1"/>
 
-    <!-- left_rear_wheel -->
+    <!--  left_rear_wheel -->
     <xacro:rear_wheel lr_prefix="left" lr_reflect="1" />
 
-    <!-- right_rear_wheel -->
+
     <xacro:rear_wheel lr_prefix="right" lr_reflect="-1" />
   </xacro:macro>
 </robot>