diff --git a/src/ezbot_descr_simul/description/camera.xacro b/src/ezbot_descr_simul/description/camera.xacro
index 82b45c1..198dfe9 100644
--- a/src/ezbot_descr_simul/description/camera.xacro
+++ b/src/ezbot_descr_simul/description/camera.xacro
@@ -45,8 +45,8 @@
                 <horizontal_fov>1.089</horizontal_fov>
                 <image>
                     <format>R8G8B8</format>
-                    <width>640</width>
-                    <height>480</height>
+                    <width>1280</width>
+                    <height>1280</height>
                 </image>
                 <clip>
                     <near>0.05</near>
diff --git a/src/ezbot_descr_simul/description/lidar.xacro b/src/ezbot_descr_simul/description/lidar.xacro
index 4b8a505..006b716 100644
--- a/src/ezbot_descr_simul/description/lidar.xacro
+++ b/src/ezbot_descr_simul/description/lidar.xacro
@@ -10,7 +10,7 @@
     <link name="laser_frame">
         <visual>
             <geometry>
-                <cylinder radius="0.05" length="0.04"/>
+                <cylinder radius="0.02" length="0.04"/>
             </geometry>
             <material name="black"/>
         </visual>
@@ -23,7 +23,7 @@
         </visual>
         <collision>
             <geometry>
-                <cylinder radius="0.05" length="0.04"/>
+                <cylinder radius="0.02" length="0.04"/>
             </geometry>
         </collision>
         <xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
@@ -38,7 +38,7 @@
 
         <sensor name="laser" type="ray">
             <pose> 0.055 0 0.03 0 0 0 </pose>
-            <visualize>false</visualize>
+            <visualize>true</visualize>
             <update_rate>10</update_rate>
             <ray>
                 <scan>