diff --git a/models/lidar_2d_v2/model.sdf b/models/lidar_2d_v2/model.sdf
index ab20938..df65968 100644
--- a/models/lidar_2d_v2/model.sdf
+++ b/models/lidar_2d_v2/model.sdf
@@ -47,7 +47,7 @@
           </mesh>
         </geometry>
       </visual>
-      <sensor name="lidar_2d_v2" type="gpu_ray">
+      <sensor name="lidar_2d_v2" type="gpu_lidar">
         <pose>0 0 0.055 0 0 0</pose>
         <ray>
           <scan>
@@ -73,7 +73,6 @@
         <update_rate>30</update_rate>
         <visualize>false</visualize>
       </sensor>
-
     </link>
   </model>
 </sdf>
diff --git a/models/x500_lidar_2d/model.config b/models/x500_lidar_2d/model.config
new file mode 100644
index 0000000..9f3c71a
--- /dev/null
+++ b/models/x500_lidar_2d/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<model>
+  <name>x500_lidar_2d</name>
+  <version>1.0</version>
+  <sdf version="1.9">model.sdf</sdf>
+  <author>
+    <name>Jacob Dahl</name>
+    <email>jake@arkelectron.com</email>
+  </author>
+  <description>x500 model with 2D Scanning Lidar</description>
+</model>
diff --git a/models/x500_lidar_2d/model.sdf b/models/x500_lidar_2d/model.sdf
new file mode 100644
index 0000000..3805d61
--- /dev/null
+++ b/models/x500_lidar_2d/model.sdf
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500_lidar_2d'>
+    <include merge='true'>
+      <uri>x500</uri>
+    </include>
+    <include merge='true'>
+      <!-- <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Lidar 2d v2</uri> -->
+      <uri>model://lidar_2d_v2</uri>
+      <pose>.12 0 .26 0 0 0</pose>
+    </include>
+    <joint name="LidarJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>link</child>
+      <pose relative_to="base_link">-.1 0 .26 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>