diff --git a/andino_gz/config/bridge_config.yaml b/andino_gz/config/bridge_config.yaml
index c1c5309..4949a7a 100644
--- a/andino_gz/config/bridge_config.yaml
+++ b/andino_gz/config/bridge_config.yaml
@@ -34,7 +34,7 @@
   gz_type_name: "gz.msgs.PointCloudPacked"
   direction: GZ_TO_ROS
 - ros_topic_name: "/cmd_vel"
-  gz_topic_name: "/cmd_vel"
+  gz_topic_name: "/model/andino/cmd_vel"
   ros_type_name: "geometry_msgs/msg/Twist"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ
diff --git a/andino_gz/urdf/andino_gz.urdf.xacro b/andino_gz/urdf/andino_gz.urdf.xacro
index 524c14d..ea8cad4 100644
--- a/andino_gz/urdf/andino_gz.urdf.xacro
+++ b/andino_gz/urdf/andino_gz.urdf.xacro
@@ -12,7 +12,6 @@
       <wheel_separation>0.137</wheel_separation>
       <wheel_radius>0.0175</wheel_radius>
       <odom_publish_frequency>1</odom_publish_frequency>
-      <topic>/cmd_vel</topic>
     </plugin>
   </gazebo>