diff --git a/vrx_urdf/wamv_gazebo/urdf/components/ball_shooter.xacro b/vrx_urdf/wamv_gazebo/urdf/components/ball_shooter.xacro
index 94d8a4448..17cddc18c 100644
--- a/vrx_urdf/wamv_gazebo/urdf/components/ball_shooter.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/components/ball_shooter.xacro
@@ -47,21 +47,26 @@
       </inertial>
     </link>
 
-    <joint name="${namespace}/${name}_base_joint" type="revolute">
-      <axis xyz="0 0 1"/>
-      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
+    <joint name="${namespace}/${name}_base_joint" type="fixed">
       <origin xyz="${x} ${y} ${z}" rpy="0 0 ${yaw}"/>
       <parent link="${namespace}/base_link"/>
       <child link="${namespace}/${name}_base_link"/>
     </joint>
-    <joint name="${namespace}/${name}_launcher_joint" type="revolute">
-      <axis xyz="0 0 1"/>
-      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
+
+    <gazebo reference="${namespace}/${name}_base_joint">
+      <preserveFixedJoint>true</preserveFixedJoint>
+    </gazebo>
+
+    <joint name="${namespace}/${name}_launcher_joint" type="fixed">
       <origin xyz="-0.0204 0 0.107877" rpy="0 ${pitch} 0"/>
       <parent link="${namespace}/${name}_base_link"/>
       <child link="${namespace}/${name}_launcher_link"/>
     </joint>
 
+    <gazebo reference="${namespace}/${name}_launcher_joint">
+      <preserveFixedJoint>true</preserveFixedJoint>
+    </gazebo>
+    
     <gazebo reference="${namespace}/${name}_base_link">
       <visual>
         <material>
diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro
index a7abf9903..ef8f9d269 100644
--- a/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_gps.xacro
@@ -26,15 +26,14 @@
 		 iyy="0.006458" iyz="0.0" izz="0.01125"/>
       </inertial>
     </link>
-    <joint name="${namespace}/${name}_joint" type="revolute">
-      <axis xyz="0 0 1"/>
-      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
+    <joint name="${namespace}/${name}_joint" type="fixed">
       <origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}" />
       <parent link="${namespace}/base_link" />
       <child link="${namespace}/${name}_link" />
     </joint>
-
-
+    <gazebo reference="${namespace}/${name}_joint">
+      <preserveFixedJoint>true</preserveFixedJoint>
+    </gazebo>
     <gazebo reference="${namespace}/${name}_link">
       <sensor name="navsat" type="navsat">
         <always_on>1</always_on>
@@ -44,5 +43,3 @@
     </gazebo>
   </xacro:macro>
 </robot>
-
-
diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro
index 88c948edb..666df3219 100644
--- a/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_imu.xacro
@@ -20,13 +20,14 @@
         <inertia ixx="0.00000542" ixy="0.0" ixz="0.0" iyy="0.00002104" iyz="0.0" izz="0.00002604"/>
       </inertial>
     </link>
-    <joint name="${namespace}/${name}_joint" type="revolute">
-      <axis xyz="0 0 1"/>
-      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
+    <joint name="${namespace}/${name}_joint" type="fixed">
       <origin xyz="${x} ${y} ${z}" rpy="${R} ${P} ${Y}"/>
       <parent link="${namespace}/base_link"/>
       <child link="${namespace}/${name}_link"/>
     </joint>
+    <gazebo reference="${namespace}/${name}_joint">
+      <preserveFixedJoint>true</preserveFixedJoint>
+    </gazebo>
     <gazebo reference="${namespace}/${name}_link">
       <sensor type="imu" name="${name}_sensor">
         <update_rate>${update_rate}</update_rate>
diff --git a/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro b/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
index e22fef62d..da7695878 100644
--- a/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
+++ b/vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
@@ -13,14 +13,14 @@
         <inertia ixx="0.00000542" ixy="0.0" ixz="0.0" iyy="0.00002104" iyz="0.0" izz="0.00002604"/>
       </inertial>
     </link>
-    <joint name="${namespace}/${sensor_name}_pinger_joint" type="revolute">
-      <axis xyz="0 0 1"/>
-      <limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
+    <joint name="${namespace}/${sensor_name}_pinger_joint" type="fixed">
       <origin xyz="0 0 0" rpy="0 0 0" />
       <parent link="${namespace}/base_link"/>
       <child link="${namespace}/${sensor_name}"/>
     </joint>
-
+    <gazebo reference="${namespace}/${sensor_name}_pinger_joint">
+      <preserveFixedJoint>true</preserveFixedJoint>
+    </gazebo>
     <gazebo>
       <plugin
         filename="libAcousticPingerPlugin.so"