diff --git a/myrobot_pkg/marcos/robot.xacro b/myrobot_pkg/marcos/robot.xacro
index 017b82f..23fa2f7 100644
--- a/myrobot_pkg/marcos/robot.xacro
+++ b/myrobot_pkg/marcos/robot.xacro
@@ -221,14 +221,14 @@
   <link name="laser_scanner_base_link">
     <visual>
       <geometry>
-        <cylinder length="${laser_scanner_base_link_height*0.5}"/>
+        <cylinder length="${laser_scanner_base_link_height}" radius="${laser_scanner_base_link_radius}"/>
       </geometry>
       <origin xyz="0 0 ${laser_scanner_base_link_height*0.5}"/>
       <material name="blue"/>
     </visual>
     <collision>
       <geometry>
-        <cylinder length="${laser_scanner_base_link_height*0.5}"/>
+        <cylinder length="${laser_scanner_base_link_height}" radius="${laser_scanner_base_link_radius}"/>
       </geometry>
       <origin xyz="0 0 ${laser_scanner_base_link_height*0.5}"/>
     </collision>