From 0db91a16b8d616f51c2d7fc03fae1967019cc1f8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=EC=9C=A0=EC=B0=BD=ED=9B=88?= <chyoo@futuredrive.net>
Date: Tue, 28 Jul 2026 10:35:22 +0900
Subject: [PATCH] feat: add lms-nav2-gazebo-simulator module

---
 .gitignore                                    |      5 +
 build.sh                                      |      6 +
 run.sh                                        |      8 +
 src/nav2_turtlebot_simulator/CMakeLists.txt   |      8 +
 .../simulator.launch.cpython-310.pyc          |    Bin 0 -> 4269 bytes
 .../launch/simulator.launch.py                |    133 +
 src/nav2_turtlebot_simulator/package.xml      |     14 +
 .../worlds/empty_world.world                  |     11 +
 src/turtlebot3_gazebo/CHANGELOG.rst           |    187 +
 src/turtlebot3_gazebo/CMakeLists.txt          |     96 +
 .../include/turtlebot3_gazebo/obstacle1.hpp   |     38 +
 .../include/turtlebot3_gazebo/obstacle2.hpp   |     39 +
 .../include/turtlebot3_gazebo/obstacles.hpp   |     41 +
 .../turtlebot3_gazebo/traffic_bar_plugin.hpp  |     45 +
 .../traffic_light_plugin.hpp                  |     53 +
 .../turtlebot3_gazebo/turtlebot3_drive.hpp    |     70 +
 .../empty_world.launch.cpython-310.pyc        |    Bin 0 -> 1493 bytes
 .../multi_robot.launch.cpython-310.pyc        |    Bin 0 -> 3348 bytes
 ...ti_spawn_turtlebot3.launch.cpython-310.pyc |    Bin 0 -> 1263 bytes
 ...bot_state_publisher.launch.cpython-310.pyc |    Bin 0 -> 1421 bytes
 .../spawn_turtlebot3.launch.cpython-310.pyc   |    Bin 0 -> 1357 bytes
 ...ebot3_autorace_2020.launch.cpython-310.pyc |    Bin 0 -> 1527 bytes
 ...rtlebot3_dqn_stage1.launch.cpython-310.pyc |    Bin 0 -> 1513 bytes
 ...rtlebot3_dqn_stage2.launch.cpython-310.pyc |    Bin 0 -> 1513 bytes
 ...rtlebot3_dqn_stage3.launch.cpython-310.pyc |    Bin 0 -> 1513 bytes
 ...rtlebot3_dqn_stage4.launch.cpython-310.pyc |    Bin 0 -> 1513 bytes
 .../turtlebot3_house.launch.cpython-310.pyc   |    Bin 0 -> 1510 bytes
 .../turtlebot3_world.launch.cpython-310.pyc   |    Bin 0 -> 1510 bytes
 .../launch/empty_world.launch.py              |     80 +
 .../launch/multi_robot.launch.py              |    137 +
 .../launch/multi_spawn_turtlebot3.launch.py   |     60 +
 .../launch/robot_state_publisher.launch.py    |     62 +
 .../launch/spawn_turtlebot3.launch.py         |     70 +
 .../launch/turtlebot3_autorace_2020.launch.py |     77 +
 .../launch/turtlebot3_dqn_stage1.launch.py    |     80 +
 .../launch/turtlebot3_dqn_stage2.launch.py    |     80 +
 .../launch/turtlebot3_dqn_stage3.launch.py    |     80 +
 .../launch/turtlebot3_dqn_stage4.launch.py    |     80 +
 .../launch/turtlebot3_house.launch.py         |     80 +
 .../launch/turtlebot3_world.launch.py         |     80 +
 .../checker/materials/checker.png             |    Bin 0 -> 4901 bytes
 .../materials/scripts/checker.material        |     14 +
 .../checker/materials/textures/checker.png    |    Bin 0 -> 2741 bytes
 .../checker/model.config                      |     16 +
 .../checker/model.sdf                         |     30 +
 .../course/materials/scripts/course.material  |     14 +
 .../course/materials/textures/course.png      |    Bin 0 -> 24014 bytes
 .../course/model.config                       |     16 +
 .../turtlebot3_autorace_2020/course/model.sdf |     41 +
 .../materials/scripts/traffic_bar.material    |     14 +
 .../materials/textures/traffic_bar.png        |    Bin 0 -> 3079 bytes
 .../traffic_bar/model.config                  |     18 +
 .../traffic_bar/model.sdf                     |     32 +
 .../scripts/traffic_construction.material     |     14 +
 .../textures/traffic_construction.png         |    Bin 0 -> 77961 bytes
 .../traffic_construction/model.config         |     16 +
 .../traffic_construction/model.sdf            |     30 +
 .../scripts/traffic_intersection.material     |     14 +
 .../textures/traffic_intersection.png         |    Bin 0 -> 67723 bytes
 .../traffic_intersection/model.config         |     16 +
 .../traffic_intersection/model.sdf            |     30 +
 .../scripts/traffic_is_left.material          |     14 +
 .../materials/textures/traffic_left.png       |    Bin 0 -> 52647 bytes
 .../traffic_left/model.config                 |     16 +
 .../traffic_left/model.sdf                    |     30 +
 .../materials/scripts/traffic_light.material  |     41 +
 .../materials/textures/traffic_light.png      |    Bin 0 -> 3912 bytes
 .../textures/traffic_light_green.png          |    Bin 0 -> 3917 bytes
 .../materials/textures/traffic_light_red.png  |    Bin 0 -> 4029 bytes
 .../textures/traffic_light_yellow.png         |    Bin 0 -> 5158 bytes
 .../traffic_light/model.config                |     13 +
 .../traffic_light/model.sdf                   |     32 +
 .../scripts/traffic_noentry.material          |     14 +
 .../materials/textures/traffic_noentry.png    |    Bin 0 -> 47706 bytes
 .../traffic_noentry/model.config              |     16 +
 .../traffic_noentry/model.sdf                 |     30 +
 .../scripts/traffic_parking.material          |     14 +
 .../materials/textures/traffic_parking.png    |    Bin 0 -> 45349 bytes
 .../traffic_parking/model.config              |     16 +
 .../traffic_parking/model.sdf                 |     30 +
 .../scripts/traffic_pl_left.material          |     14 +
 .../materials/textures/traffic_pl_left.png    |    Bin 0 -> 52647 bytes
 .../traffic_pl_left/model.config              |     16 +
 .../traffic_pl_left/model.sdf                 |     30 +
 .../materials/scripts/traffic_right.material  |     14 +
 .../materials/textures/traffic_right.png      |    Bin 0 -> 48565 bytes
 .../traffic_right/model.config                |     16 +
 .../traffic_right/model.sdf                   |     30 +
 .../materials/scripts/traffic_stop.material   |     14 +
 .../materials/textures/traffic_stop.png       |    Bin 0 -> 49279 bytes
 .../traffic_stop/model.config                 |     16 +
 .../traffic_stop/model.sdf                    |     30 +
 .../materials/scripts/tunnel.material         |     14 +
 .../materials/textures/tunnel.png             |    Bin 0 -> 62728 bytes
 .../traffic_tunnel/model.config               |     16 +
 .../traffic_tunnel/model.sdf                  |     30 +
 .../models/turtlebot3_burger/model-1_4.sdf    |    408 +
 .../models/turtlebot3_burger/model.config     |     17 +
 .../models/turtlebot3_burger/model.sdf        |    467 +
 .../turtlebot3_burger_cam/model-1_4.sdf       |    408 +
 .../models/turtlebot3_burger_cam/model.config |     19 +
 .../models/turtlebot3_burger_cam/model.sdf    |    495 +
 .../meshes/bases/burger_base.stl              |    Bin 0 -> 4826284 bytes
 .../meshes/bases/waffle_base.stl              |    Bin 0 -> 16291984 bytes
 .../meshes/bases/waffle_pi_base.stl           |    Bin 0 -> 7878884 bytes
 .../turtlebot3_common/meshes/burger_base.dae  |    220 +
 .../models/turtlebot3_common/meshes/lds.dae   |    188 +
 .../models/turtlebot3_common/meshes/r200.dae  |    890 +
 .../meshes/sensors/astra.dae                  | 256759 +++++++++++++++
 .../meshes/sensors/astra.jpg                  |    Bin 0 -> 65411 bytes
 .../turtlebot3_common/meshes/sensors/lds.stl  |    Bin 0 -> 728384 bytes
 .../turtlebot3_common/meshes/sensors/r200.dae |    890 +
 .../turtlebot3_common/meshes/sensors/r200.jpg |    Bin 0 -> 2508 bytes
 .../models/turtlebot3_common/meshes/tire.dae  |    142 +
 .../turtlebot3_common/meshes/waffle_base.dae  |    220 +
 .../meshes/waffle_pi_base.dae                 |    220 +
 .../meshes/wheels/left_tire.stl               |    Bin 0 -> 1083684 bytes
 .../meshes/wheels/right_tire.stl              |    Bin 0 -> 1083684 bytes
 .../models/turtlebot3_common/model.config     |     15 +
 .../goal_box/model.config                     |     11 +
 .../turtlebot3_dqn_world/goal_box/model.sdf   |     26 +
 .../inner_walls/model.config                  |     15 +
 .../inner_walls/model.sdf                     |    189 +
 .../models/turtlebot3_dqn_world/model.config  |     15 +
 .../models/turtlebot3_dqn_world/model.sdf     |    111 +
 .../obstacle1/model.config                    |     15 +
 .../turtlebot3_dqn_world/obstacle1/model.sdf  |     24 +
 .../obstacle2/model.config                    |     15 +
 .../turtlebot3_dqn_world/obstacle2/model.sdf  |     24 +
 .../obstacles/model.config                    |     15 +
 .../turtlebot3_dqn_world/obstacles/model.sdf  |    153 +
 .../models/turtlebot3_house/model.config      |     16 +
 .../models/turtlebot3_house/model.sdf         |   5424 +
 .../models/turtlebot3_waffle/model-1_4.sdf    |    520 +
 .../models/turtlebot3_waffle/model.config     |     17 +
 .../models/turtlebot3_waffle/model.sdf        |    536 +
 .../turtlebot3_waffle_pi/model-1_4_.sdf       |    520 +
 .../models/turtlebot3_waffle_pi/model.config  |     17 +
 .../models/turtlebot3_waffle_pi/model.sdf     |    536 +
 .../turtlebot3_world/meshes/hexagon.dae       |     76 +
 .../models/turtlebot3_world/meshes/wall.dae   |     76 +
 .../models/turtlebot3_world/model-1_4.sdf     |    549 +
 .../models/turtlebot3_world/model.config      |     17 +
 .../models/turtlebot3_world/model.sdf         |    549 +
 src/turtlebot3_gazebo/package.xml             |     30 +
 src/turtlebot3_gazebo/rviz/tb3_gazebo.rviz    |    335 +
 src/turtlebot3_gazebo/src/obstacle1.cpp       |     64 +
 src/turtlebot3_gazebo/src/obstacle2.cpp       |     80 +
 src/turtlebot3_gazebo/src/obstacles.cpp       |     44 +
 .../src/traffic_bar_plugin.cpp                |     62 +
 .../src/traffic_light_plugin.cpp              |     65 +
 .../src/turtlebot3_drive.cpp                  |    174 +
 .../worlds/empty_world.world                  |     47 +
 .../worlds/turtlebot3_autorace_2020.world     |   1272 +
 .../worlds/turtlebot3_dqn_stage1.world        |     54 +
 .../worlds/turtlebot3_dqn_stage2.world        |     58 +
 .../worlds/turtlebot3_dqn_stage3.world        |     62 +
 .../worlds/turtlebot3_dqn_stage4.world        |     75 +
 .../worlds/turtlebot3_house.world             |     54 +
 .../worlds/turtlebot3_world.world             |     54 +
 160 files changed, 275895 insertions(+)
 create mode 100644 .gitignore
 create mode 100755 build.sh
 create mode 100755 run.sh
 create mode 100644 src/nav2_turtlebot_simulator/CMakeLists.txt
 create mode 100644 src/nav2_turtlebot_simulator/launch/__pycache__/simulator.launch.cpython-310.pyc
 create mode 100644 src/nav2_turtlebot_simulator/launch/simulator.launch.py
 create mode 100644 src/nav2_turtlebot_simulator/package.xml
 create mode 100644 src/nav2_turtlebot_simulator/worlds/empty_world.world
 create mode 100644 src/turtlebot3_gazebo/CHANGELOG.rst
 create mode 100644 src/turtlebot3_gazebo/CMakeLists.txt
 create mode 100644 src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
 create mode 100644 src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
 create mode 100644 src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
 create mode 100644 src/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp
 create mode 100644 src/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp
 create mode 100644 src/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/empty_world.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/multi_robot.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/multi_spawn_turtlebot3.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/robot_state_publisher.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/spawn_turtlebot3.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/turtlebot3_autorace_2020.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/turtlebot3_dqn_stage1.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/turtlebot3_dqn_stage2.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/turtlebot3_dqn_stage3.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/turtlebot3_dqn_stage4.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/turtlebot3_house.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/__pycache__/turtlebot3_world.launch.cpython-310.pyc
 create mode 100644 src/turtlebot3_gazebo/launch/empty_world.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/multi_robot.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/turtlebot3_house.launch.py
 create mode 100644 src/turtlebot3_gazebo/launch/turtlebot3_world.launch.py
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_green.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_red.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light_yellow.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_burger/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
 create mode 100755 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl
 create mode 100755 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.jpg
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.jpg
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_common/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_house/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_house/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_world/model.config
 create mode 100644 src/turtlebot3_gazebo/models/turtlebot3_world/model.sdf
 create mode 100644 src/turtlebot3_gazebo/package.xml
 create mode 100644 src/turtlebot3_gazebo/rviz/tb3_gazebo.rviz
 create mode 100644 src/turtlebot3_gazebo/src/obstacle1.cpp
 create mode 100644 src/turtlebot3_gazebo/src/obstacle2.cpp
 create mode 100644 src/turtlebot3_gazebo/src/obstacles.cpp
 create mode 100644 src/turtlebot3_gazebo/src/traffic_bar_plugin.cpp
 create mode 100644 src/turtlebot3_gazebo/src/traffic_light_plugin.cpp
 create mode 100644 src/turtlebot3_gazebo/src/turtlebot3_drive.cpp
 create mode 100644 src/turtlebot3_gazebo/worlds/empty_world.world
 create mode 100644 src/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
 create mode 100644 src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
 create mode 100644 src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
 create mode 100644 src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
 create mode 100644 src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
 create mode 100644 src/turtlebot3_gazebo/worlds/turtlebot3_house.world
 create mode 100644 src/turtlebot3_gazebo/worlds/turtlebot3_world.world

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..76b3365
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+build/
+install/
+log/
+.colcon/
+*.log
diff --git a/build.sh b/build.sh
new file mode 100755
index 0000000..0c1c5bc
--- /dev/null
+++ b/build.sh
@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
+exec bash "$RUNTIME_ROOT/docker/docker_build_nav2.sh" "$(dirname "$MODULE_PATH")" "$(basename "$MODULE_PATH")" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}"
diff --git a/run.sh b/run.sh
new file mode 100755
index 0000000..656b11d
--- /dev/null
+++ b/run.sh
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
+FOLDER_NAME="$(basename "$MODULE_PATH")"
+CONTAINER_NAME="${FOLDER_NAME#\[}"; CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
+exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}" "$@"
diff --git a/src/nav2_turtlebot_simulator/CMakeLists.txt b/src/nav2_turtlebot_simulator/CMakeLists.txt
new file mode 100644
index 0000000..4c70be9
--- /dev/null
+++ b/src/nav2_turtlebot_simulator/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.8)
+project(nav2_turtlebot_simulator)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch worlds DESTINATION share/${PROJECT_NAME})
+
+ament_package()
diff --git a/src/nav2_turtlebot_simulator/launch/__pycache__/simulator.launch.cpython-310.pyc b/src/nav2_turtlebot_simulator/launch/__pycache__/simulator.launch.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..f08a56cb3466a2192bec3c7e9413bad86f0be919
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diff --git a/src/nav2_turtlebot_simulator/launch/simulator.launch.py b/src/nav2_turtlebot_simulator/launch/simulator.launch.py
new file mode 100644
index 0000000..3b7632e
--- /dev/null
+++ b/src/nav2_turtlebot_simulator/launch/simulator.launch.py
@@ -0,0 +1,133 @@
+import os
+import tempfile
+import xml.etree.ElementTree as ET
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def create_flat_house_world(gazebo_dir):
+    """Create a texture-free copy of the house model while retaining its mesh hierarchy."""
+    world_path = os.path.join(gazebo_dir, 'worlds', 'turtlebot3_house.world')
+    model_path = os.path.join(gazebo_dir, 'models', 'turtlebot3_house', 'model.sdf')
+    flat_models_dir = os.path.join(tempfile.gettempdir(), 'nav2_flat_models')
+    flat_model_dir = os.path.join(flat_models_dir, 'turtlebot3_house_flat')
+    os.makedirs(flat_model_dir, exist_ok=True)
+
+    house_model_tree = ET.parse(model_path)
+    house_model = house_model_tree.getroot()
+    house_model.attrib['name'] = 'turtlebot3_house_flat'
+
+    for visual in house_model.findall('.//visual'):
+        material = visual.find('material')
+        if material is None:
+            material = ET.SubElement(visual, 'material')
+
+        for script in material.findall('script'):
+            material.remove(script)
+
+        for name, value in (
+            ('ambient', '0.62 0.67 0.76 1'),
+            ('diffuse', '0.62 0.67 0.76 1'),
+            ('specular', '0.05 0.05 0.05 1'),
+        ):
+            color = material.find(name)
+            if color is None:
+                color = ET.SubElement(material, name)
+            color.text = value
+
+        shadows = visual.find('cast_shadows')
+        if shadows is None:
+            shadows = ET.SubElement(visual, 'cast_shadows')
+        shadows.text = 'false'
+
+    # ElementTree serializes Gazebo's frame='' as frame="", which is invalid SDF.
+    for element in house_model.iter():
+        if element.attrib.get('frame') == '':
+            del element.attrib['frame']
+
+    house_model_tree.write(
+        os.path.join(flat_model_dir, 'model.sdf'),
+        encoding='utf-8',
+        xml_declaration=True,
+    )
+    with open(os.path.join(flat_model_dir, 'model.config'), 'w', encoding='utf-8') as config:
+        config.write(
+            '<model><name>turtlebot3_house_flat</name>'
+            '<version>1.0</version><sdf version="1.6">model.sdf</sdf></model>'
+        )
+
+    with open(world_path, 'r', encoding='utf-8') as source:
+        flat_world = source.read().replace('model://turtlebot3_house', 'model://turtlebot3_house_flat')
+
+    flat_world_path = os.path.join(tempfile.gettempdir(), 'nav2_turtlebot3_house_flat.world')
+    with open(flat_world_path, 'w', encoding='utf-8') as destination:
+        destination.write(flat_world)
+
+    existing_model_path = os.environ.get('GAZEBO_MODEL_PATH', '')
+    os.environ['GAZEBO_MODEL_PATH'] = os.pathsep.join(
+        part for part in (flat_models_dir, existing_model_path) if part
+    )
+    return flat_world_path
+
+
+def launch_gazebo(context):
+    gazebo_dir = get_package_share_directory('turtlebot3_gazebo')
+    simulator_dir = get_package_share_directory('nav2_turtlebot_simulator')
+    gazebo_ros_dir = get_package_share_directory('gazebo_ros')
+    world = LaunchConfiguration('world').perform(context)
+    render_mode = LaunchConfiguration('render_mode').perform(context).strip().lower()
+
+    if render_mode not in {'flat', 'full'}:
+        raise RuntimeError('render_mode must be either flat or full')
+
+    if world == 'turtlebot3_house.world' and render_mode == 'flat':
+        world_path = create_flat_house_world(gazebo_dir)
+    else:
+        world_path = os.path.join(
+            simulator_dir if world == 'empty_world.world' else gazebo_dir,
+            'worlds',
+            world,
+        )
+    return [
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzserver.launch.py')),
+            launch_arguments={
+                'world': world_path,
+                'extra_gazebo_args': '-slibgazebo_ros_state.so',
+            }.items(),
+        ),
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=[
+                '-entity', 'turtlebot3_burger_3d_lidar',
+                '-file', os.path.join(gazebo_dir, 'models', 'turtlebot3_burger', 'model.sdf'),
+                '-x', LaunchConfiguration('x_pose').perform(context),
+                '-y', LaunchConfiguration('y_pose').perform(context),
+                '-z', '0.01',
+            ],
+            output='screen',
+        ),
+    ]
+
+
+def generate_launch_description():
+    gazebo_ros_dir = get_package_share_directory('gazebo_ros')
+    return LaunchDescription([
+        DeclareLaunchArgument('gui', default_value='false'),
+        DeclareLaunchArgument('world', default_value='turtlebot3_world.world'),
+        DeclareLaunchArgument('render_mode', default_value='flat'),
+        DeclareLaunchArgument('x_pose', default_value='-2.0'),
+        DeclareLaunchArgument('y_pose', default_value='-0.5'),
+        OpaqueFunction(function=launch_gazebo),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzclient.launch.py')),
+            condition=IfCondition(LaunchConfiguration('gui')),
+        ),
+    ])
diff --git a/src/nav2_turtlebot_simulator/package.xml b/src/nav2_turtlebot_simulator/package.xml
new file mode 100644
index 0000000..47de6a7
--- /dev/null
+++ b/src/nav2_turtlebot_simulator/package.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>nav2_turtlebot_simulator</name>
+  <version>1.0.0</version>
+  <description>Headless Gazebo and TurtleBot3 Burger startup for the Nav2 lab.</description>
+  <maintainer email="platform@autonomystudio.net">Autonomy Studio</maintainer>
+  <license>Apache-2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>turtlebot3_gazebo</exec_depend>
+  <export><build_type>ament_cmake</build_type></export>
+</package>
diff --git a/src/nav2_turtlebot_simulator/worlds/empty_world.world b/src/nav2_turtlebot_simulator/worlds/empty_world.world
new file mode 100644
index 0000000..4e4e309
--- /dev/null
+++ b/src/nav2_turtlebot_simulator/worlds/empty_world.world
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="empty_world">
+    <include><uri>model://ground_plane</uri></include>
+    <include><uri>model://sun</uri></include>
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+    </physics>
+  </world>
+</sdf>
diff --git a/src/turtlebot3_gazebo/CHANGELOG.rst b/src/turtlebot3_gazebo/CHANGELOG.rst
new file mode 100644
index 0000000..09601f1
--- /dev/null
+++ b/src/turtlebot3_gazebo/CHANGELOG.rst
@@ -0,0 +1,187 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package turtlebot3_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.3.8 (2025-07-10)
+------------------
+* None
+
+2.3.6 (2025-06-19)
+------------------
+* None
+
+2.3.4 (2025-05-28)
+------------------
+* None
+
+2.3.0 (2025-02-17)
+------------------
+* Added multi-robot launch functionality
+* Updated robot mesh in Gazebo and RViz
+* Added launch file for TurtleBot3 Autorace 2020
+* Added plugins to the models of Autorace 2020
+* Contributors: Hyungyu Kim
+
+2.2.6 (2022-05-26)
+------------------
+* ROS 2 Humble Hawksbill supported
+* Contributors: Will Son
+
+2.2.5 (2021-08-25)
+------------------
+* Release for ROS 2 Rolling
+* Contributors: Will Son
+
+2.2.4 (2021-06-14)
+------------------
+* Release for ROS 2 Galactic
+* Separate world and robot models(#162)
+* Clean up unncessary files
+* Use turtlebot3_common mesh modeling
+* Independent turtlebot3_simulations package
+* Contributors: Joep Tool, Will Son
+
+2.2.3 (2021-04-12)
+------------------
+* Update required keyword arguments
+* Clear up exec_depend
+* Fix Waffle Pi wheel inertia
+* Contributors: ruffsl, Will Son
+
+2.2.2 (2021-02-24)
+------------------
+* Remove shared objects built in older version
+* Contributors: Will Son
+
+2.2.1 (2021-01-13)
+------------------
+* Eloquent Elusor EOL
+* Add missing imu joint in sdf
+* Append Gazebo model path
+* Portable fix, launch description revise
+* Ament lint applied
+* Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son
+
+2.2.0 (2020-06-29)
+------------------
+* TurtleBot3 Drive node implementation
+* Additional Gazebo maps added
+* argument tags in the sdf file replaced with remapping tags
+* Low polygon 3D modeling applied for simulation
+* Contributors: Ryan Shim, Mikael Arguedas, Will Son
+
+2.1.0 (2019-09-10)
+------------------
+* Added turtlebot3_house and related world, model files
+* Contributors: Ryan Shim
+
+2.0.1 (2019-09-05)
+------------------
+* Modified dependency packages
+* Modified launch directory
+* Added a launch file for robot state publisher
+* Contributors: Darby Lim, Pyo
+
+2.0.0 (2019-08-20)
+------------------
+* Supported ROS 2 Dashing Diademata
+* Updated the CHANGELOG and version to release binary packages
+* Contributors: Darby Lim, Pyo
+
+1.3.0 (2020-06-29)
+------------------
+* Turtlebot3 Autorace 2020 implemented
+* Remove the plugin_path from gazebo_ros export
+* Remove *nix path separator
+* Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen
+
+1.2.0 (2019-01-22)
+------------------
+* moved <scene> into <world> `#65 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/65>`_
+* modified ML stage
+* delete unused param
+* update algorithm and modified variable more clearly
+* Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo
+
+1.1.0 (2018-07-20)
+------------------
+* modified uri path
+* modified autorace
+* delete remap
+* Contributors: Darby Lim, Gilbert, Pyo
+
+1.0.2 (2018-06-01)
+------------------
+* added mission.launch modified model.sdf
+* deleted turtlebot3's gazebo plugins
+* modified autorace gazebo
+* merged pull request `#53 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/53>`_ `#52 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/52>`_ `#51 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/51>`_ `#50 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/50>`_ `#49 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/49>`_
+* Contributors: Gilbert, Darby Lim, Pyo
+
+1.0.1 (2018-05-30)
+------------------
+* resolving dependency issues:
+  http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/
+* Contributors: Pyo
+
+1.0.0 (2018-05-29)
+------------------
+* added world for turtlebot3_autorace
+* added world for turtlebot3_machine_learning
+* merged pull request `#46 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/46>`_ from AuTURBO/develop
+  add turtlebot3_autorace world'
+* merged pull request `#48 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/48>`_ `#47 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/47>`_ `#44 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/44>`_ `#42 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/42>`_ `#41 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/41>`_
+* Contributors: Darby Lim, Gilbert, hyunoklee, Pyo
+
+0.2.4 (2018-03-14)
+------------------
+* None
+
+0.2.3 (2018-03-14)
+------------------
+* solved DuplicateVersionsException error
+* Contributors: Pyo
+
+0.2.2 (2018-03-14)
+------------------
+* None
+
+0.2.1 (2018-03-14)
+------------------
+* added worlds for gazebo and turtlebot3
+* Contributors: Darby Lim
+
+0.2.0 (2018-03-13)
+------------------
+* added slam with multiple tb3
+* added multi example
+* added turtlebot3_house
+* modified cmake file
+* modified spwn model name
+* modified multi slam param
+* modified camera position
+* modified folder name
+* Contributors: Darby Lim
+
+0.1.7 (2017-08-16)
+------------------
+* renamed missed the install rule (worlds -> models)
+* Contributors: Darby Lim, Tully Foote
+
+0.1.6 (2017-08-14)
+------------------
+* modified folder name and model path
+* updated rviz and add static tf publisher for depth camera
+* Contributors: Darby Lim
+
+0.1.5 (2017-06-09)
+------------------
+* modified make files for dependencies
+* updated turtlebot3 sim
+* updated world config
+* Contributors: Darby Lim
+
+0.1.4 (2017-05-23)
+------------------
+* added as new meta-packages and version update (0.1.4)
+* Contributors: Darby Lim, Pyo
diff --git a/src/turtlebot3_gazebo/CMakeLists.txt b/src/turtlebot3_gazebo/CMakeLists.txt
new file mode 100644
index 0000000..89726ba
--- /dev/null
+++ b/src/turtlebot3_gazebo/CMakeLists.txt
@@ -0,0 +1,96 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(turtlebot3_gazebo)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+if(MSVC)
+  add_compile_definitions(_USE_MATH_DEFINES)
+endif()
+
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+################################################################################
+find_package(ament_cmake REQUIRED)
+find_package(gazebo REQUIRED)
+find_package(gazebo_ros_pkgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+
+################################################################################
+# Build
+################################################################################
+link_directories(
+  ${GAZEBO_LIBRARY_DIRS}
+)
+
+include_directories(
+  include
+  ${GAZEBO_INCLUDE_DIRS}
+)
+
+set(dependencies
+  "geometry_msgs"
+  "nav_msgs"
+  "rclcpp"
+  "sensor_msgs"
+  "tf2"
+)
+
+set(EXEC_NAME "turtlebot3_drive")
+
+add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
+ament_target_dependencies(${EXEC_NAME} ${dependencies})
+
+add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
+target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
+
+add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
+target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
+
+add_library(obstacle1 SHARED src/obstacle1.cpp)
+target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
+
+add_library(obstacle2 SHARED src/obstacle2.cpp)
+target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
+
+add_library(obstacles SHARED src/obstacles.cpp)
+target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
+
+################################################################################
+# Install
+################################################################################
+install(TARGETS ${EXEC_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch models rviz worlds
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+################################################################################
+# Macro for ament package
+################################################################################
+ament_export_include_directories(include)
+ament_export_dependencies(gazebo_ros_pkgs)
+ament_export_dependencies(geometry_msgs)
+ament_export_dependencies(nav_msgs)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(sensor_msgs)
+ament_export_dependencies(tf2)
+ament_package()
diff --git a/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
new file mode 100644
index 0000000..5377037
--- /dev/null
+++ b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
@@ -0,0 +1,38 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class Obstacle1 : public ModelPlugin
+{
+public:
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
diff --git a/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
new file mode 100644
index 0000000..f99808d
--- /dev/null
+++ b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
@@ -0,0 +1,39 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class Obstacle2 : public ModelPlugin
+{
+public:
+  Obstacle2() = default;
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
diff --git a/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
new file mode 100644
index 0000000..5d88a9b
--- /dev/null
+++ b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
@@ -0,0 +1,41 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+#define PI 3.141592
+
+namespace gazebo
+{
+class Obstacles : public ModelPlugin
+{
+public:
+  Obstacles() = default;
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacles);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
diff --git a/src/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp
new file mode 100644
index 0000000..10e7d5c
--- /dev/null
+++ b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp
@@ -0,0 +1,45 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
+#define TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class TrafficBar : public ModelPlugin
+{
+public:
+  TrafficBar();
+  void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+  void OnUpdate();
+
+private:
+  double traffic_cycle;
+  int status;
+
+  common::Time last_time;
+  event::ConnectionPtr update_connection;
+  ignition::math::Pose3d down_pose;
+  ignition::math::Pose3d up_pose;
+  physics::ModelPtr model;
+  physics::WorldPtr world;
+};
+GZ_REGISTER_MODEL_PLUGIN(TrafficBar);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
diff --git a/src/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp
new file mode 100644
index 0000000..402a5ef
--- /dev/null
+++ b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp
@@ -0,0 +1,53 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
+#define TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
+
+#include <string>
+#include <vector>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class TrafficLight : public ModelPlugin
+{
+public:
+  TrafficLight();
+  ~TrafficLight();
+
+  void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+  void OnUpdate();
+
+private:
+  double traffic_cycle;
+  int status;
+  std::vector<std::string> textures;
+
+  common::Time last_time;
+  event::ConnectionPtr update_connection;
+  gazebo::transport::NodePtr node;
+  gazebo::msgs::Visual msg;
+  gazebo::transport::PublisherPtr visPub;
+  physics::ModelPtr model;
+  physics::WorldPtr world;
+};
+GZ_REGISTER_MODEL_PLUGIN(TrafficLight);
+}  // namespace gazebo
+
+#endif  // TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
diff --git a/src/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp
new file mode 100644
index 0000000..abcc393
--- /dev/null
+++ b/src/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp
@@ -0,0 +1,70 @@
+// Copyright 2019 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Authors: Taehun Lim (Darby), Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
+#define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
+
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <geometry_msgs/msg/twist.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/laser_scan.hpp>
+
+#define DEG2RAD (M_PI / 180.0)
+#define RAD2DEG (180.0 / M_PI)
+
+#define CENTER 0
+#define LEFT   1
+#define RIGHT  2
+
+#define LINEAR_VELOCITY  0.3
+#define ANGULAR_VELOCITY 1.5
+
+#define GET_TB3_DIRECTION 0
+#define TB3_DRIVE_FORWARD 1
+#define TB3_RIGHT_TURN    2
+#define TB3_LEFT_TURN     3
+
+class Turtlebot3Drive : public rclcpp::Node
+{
+public:
+  Turtlebot3Drive();
+  ~Turtlebot3Drive();
+
+private:
+  // ROS topic publishers
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
+
+  // ROS topic subscribers
+  rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
+  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
+
+  // Variables
+  double robot_pose_;
+  double prev_robot_pose_;
+  double scan_data_[3];
+
+  // ROS timer
+  rclcpp::TimerBase::SharedPtr update_timer_;
+
+  // Function prototypes
+  void update_callback();
+  void update_cmd_vel(double linear, double angular);
+  void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
+  void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg);
+};
+#endif  // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
diff --git a/src/turtlebot3_gazebo/launch/__pycache__/empty_world.launch.cpython-310.pyc b/src/turtlebot3_gazebo/launch/__pycache__/empty_world.launch.cpython-310.pyc
new file mode 100644
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diff --git a/src/turtlebot3_gazebo/launch/empty_world.launch.py b/src/turtlebot3_gazebo/launch/empty_world.launch.py
new file mode 100644
index 0000000..f4f861a
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/empty_world.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'empty_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/multi_robot.launch.py b/src/turtlebot3_gazebo/launch/multi_robot.launch.py
new file mode 100644
index 0000000..8a4745e
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/multi_robot.launch.py
@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, HyunGyu Kim
+
+import os
+import xml.etree.ElementTree as ET
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnShutdown
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    number_of_robots = 4
+    namespace = 'TB3'
+    pose = [[-2, -0.5], [0.5, -2], [2, 0.5], [-0.5, 2]]
+    model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
+    urdf_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'model.sdf'
+    )
+    save_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'tmp'
+    )
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd_list = []
+
+    for count in range(number_of_robots):
+        robot_state_publisher_cmd_list.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+                ),
+                launch_arguments={
+                    'use_sim_time': use_sim_time,
+                    'frame_prefix': f'{namespace}_{count+1}'
+                    }.items()
+            )
+        )
+
+    spawn_turtlebot_cmd_list = []
+
+    for count in range(number_of_robots):
+        tree = ET.parse(urdf_path)
+        root = tree.getroot()
+        for odom_frame_tag in root.iter('odometry_frame'):
+            odom_frame_tag.text = f'{namespace}_{count+1}/odom'
+        for base_frame_tag in root.iter('robot_base_frame'):
+            base_frame_tag.text = f'{namespace}_{count+1}/base_footprint'
+        for scan_frame_tag in root.iter('frame_name'):
+            scan_frame_tag.text = f'{namespace}_{count+1}/base_scan'
+        urdf_modified = ET.tostring(tree.getroot(), encoding='unicode')
+        urdf_modified = '<?xml version="1.0" ?>\n'+urdf_modified
+        with open(f'{save_path}{count+1}.sdf', 'w') as file:
+            file.write(urdf_modified)
+
+        spawn_turtlebot_cmd_list.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_file_dir, 'multi_spawn_turtlebot3.launch.py')
+                ),
+                launch_arguments={
+                        'x_pose': str(pose[count][0]),
+                        'y_pose': str(pose[count][1]),
+                        'robot_name': f'{TURTLEBOT3_MODEL}_{count+1}',
+                        'namespace': f'{namespace}_{count+1}',
+                        'sdf_path': f'{save_path}{count+1}.sdf'
+                }.items()
+            )
+        )
+
+    ld = LaunchDescription()
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(RegisterEventHandler(
+        OnShutdown(
+            on_shutdown=lambda event,
+            context: [os.remove(f'{save_path}{count+1}.sdf') for count in range(number_of_robots)]
+        )
+    ))
+    for count, spawn_turtlebot_cmd in enumerate(spawn_turtlebot_cmd_list, start=1):
+        ld.add_action(GroupAction([PushRosNamespace(f'{namespace}_{count}'),
+                                  robot_state_publisher_cmd_list[count-1],
+                                  spawn_turtlebot_cmd]))
+
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py b/src/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py
new file mode 100644
index 0000000..2759477
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: HyunGyu Kim
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+    robot_name = LaunchConfiguration('robot_name', default=TURTLEBOT3_MODEL)
+    namespace = LaunchConfiguration('namespace', default='')
+    sdf_path = LaunchConfiguration('sdf_path', default='')
+
+    declare_x_position_cmd = DeclareLaunchArgument(
+        'x_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+
+    declare_y_position_cmd = DeclareLaunchArgument(
+        'y_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+    start_gazebo_ros_spawner_cmd = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', robot_name,
+            '-file', sdf_path,
+            '-x', x_pose,
+            '-y', y_pose,
+            '-z', '0.01',
+            '-robot_namespace', namespace
+        ],
+        output='screen',
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(declare_x_position_cmd)
+    ld.add_action(declare_y_position_cmd)
+    ld.add_action(start_gazebo_ros_spawner_cmd)
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/src/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
new file mode 100644
index 0000000..e68bcb5
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Darby Lim
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PythonExpression
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'
+    frame_prefix = LaunchConfiguration('frame_prefix', default='')
+
+    print('urdf_file_name : {}'.format(urdf_file_name))
+
+    urdf_path = os.path.join(
+        get_package_share_directory('turtlebot3_description'),
+        'urdf',
+        urdf_file_name)
+
+    with open(urdf_path, 'r') as infp:
+        robot_desc = infp.read()
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use simulation (Gazebo) clock if true'),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'use_sim_time': use_sim_time,
+                'robot_description': robot_desc,
+                'frame_prefix': PythonExpression(["'", frame_prefix, "/'"])
+            }],
+        ),
+    ])
diff --git a/src/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/src/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
new file mode 100644
index 0000000..8d38603
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py
@@ -0,0 +1,70 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Get the urdf file
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+    model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
+    urdf_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'model.sdf'
+    )
+
+    # Launch configuration variables specific to simulation
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    # Declare the launch arguments
+    declare_x_position_cmd = DeclareLaunchArgument(
+        'x_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+
+    declare_y_position_cmd = DeclareLaunchArgument(
+        'y_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+
+    start_gazebo_ros_spawner_cmd = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', TURTLEBOT3_MODEL,
+            '-file', urdf_path,
+            '-x', x_pose,
+            '-y', y_pose,
+            '-z', '0.01'
+        ],
+        output='screen',
+    )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_x_position_cmd)
+    ld.add_action(declare_y_position_cmd)
+
+    # Add any conditioned actions
+    ld.add_action(start_gazebo_ros_spawner_cmd)
+
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py b/src/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py
new file mode 100644
index 0000000..9d7f507
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py
@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, Hyungyu Kim
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.8')
+    y_pose = LaunchConfiguration('y_pose', default='-1.747')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_autorace_2020.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
new file mode 100644
index 0000000..c6dbab4
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage1.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
new file mode 100644
index 0000000..2d5900f
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage2.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
new file mode 100644
index 0000000..43c3baf
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage3.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
new file mode 100644
index 0000000..31dca3e
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage4.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/turtlebot3_house.launch.py b/src/turtlebot3_gazebo/launch/turtlebot3_house.launch.py
new file mode 100644
index 0000000..8c4091e
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/turtlebot3_house.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='-2.0')
+    y_pose = LaunchConfiguration('y_pose', default='-0.5')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_house.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_gazebo/launch/turtlebot3_world.launch.py b/src/turtlebot3_gazebo/launch/turtlebot3_world.launch.py
new file mode 100644
index 0000000..3a48d64
--- /dev/null
+++ b/src/turtlebot3_gazebo/launch/turtlebot3_world.launch.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='-2.0')
+    y_pose = LaunchConfiguration('y_pose', default='-0.5')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/checker.png
new file mode 100644
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
new file mode 100644
index 0000000..ebd4585
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material
@@ -0,0 +1,14 @@
+material checker
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture checker.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/textures/checker.png
new file mode 100644
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literal 0
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config
new file mode 100644
index 0000000..f987bfb
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>checker</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf
new file mode 100644
index 0000000..7e3442f
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="checker">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.02 1 1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.02 1 1</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/checker/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/checker/materials/textures</uri>
+            <name>checker</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material
new file mode 100644
index 0000000..0859df9
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material
@@ -0,0 +1,14 @@
+material course
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture course.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/textures/course.png
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config
new file mode 100644
index 0000000..e3e5055
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>course</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    A simple textured ground plane
+  </description>
+</model>
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf
new file mode 100644
index 0000000..d5dcc2f
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf
@@ -0,0 +1,41 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="course">
+    <static>true</static>
+    <link name="course_link">
+      <collision name="course_collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="course_visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+	        <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+	      <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/course/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/course/materials/textures</uri>
+            <name>course</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
new file mode 100644
index 0000000..ddfd56f
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material
@@ -0,0 +1,14 @@
+material traffic_bar
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_bar.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/textures/traffic_bar.png
new file mode 100644
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literal 0
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config
new file mode 100644
index 0000000..e7c7cf2
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_bar</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+    <name>Hyungyu Kim</name>
+    <email>kimhg@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf
new file mode 100644
index 0000000..3fccdd5
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf
@@ -0,0 +1,32 @@
+<?xml version='1.0'?>
+<sdf version="1.6">
+  <model name="traffic_bar">
+    <static>false</static>
+    <link name="traffic_bar">
+        <pose> 0 0 0 0 0 0</pose>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.3 0.02 0.05</size>
+            </box>
+         </geometry>
+        </collision>
+        <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.3 0.02 0.05</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_bar/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_bar/materials/textures</uri>
+            <name>traffic_bar</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <plugin name="traffic_bar_plugin" filename="libtraffic_bar_plugin.so">
+    </plugin>   
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
new file mode 100644
index 0000000..a468c2a
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material
@@ -0,0 +1,14 @@
+material traffic_construction
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_construction.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/textures/traffic_construction.png
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config
new file mode 100644
index 0000000..6e18cad
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_construction</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf
new file mode 100644
index 0000000..e90a559
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_construction">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_construction/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_construction/materials/textures</uri>
+            <name>traffic_construction</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
new file mode 100644
index 0000000..a17574c
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material
@@ -0,0 +1,14 @@
+material traffic_intersection
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_intersection.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/textures/traffic_intersection.png
new file mode 100644
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config
new file mode 100644
index 0000000..9bec9f4
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_intersection</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
new file mode 100644
index 0000000..95a1b0e
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_intersection">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/textures</uri>
+            <name>traffic_intersection</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
new file mode 100644
index 0000000..60c7f73
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material
@@ -0,0 +1,14 @@
+material traffic_left
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_left.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/textures/traffic_left.png
new file mode 100644
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config
new file mode 100644
index 0000000..97b56b6
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_left</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf
new file mode 100644
index 0000000..394bb46
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_left">
+    <static>true</static>
+    <link name="box">
+      <pose>1.08 -0.838 0.125 0 -0 -1.57</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_left/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_left/materials/textures</uri>
+            <name>traffic_left</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
new file mode 100644
index 0000000..8f61a0e
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material
@@ -0,0 +1,41 @@
+material traffic_light_red
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_red.png
+      }
+    }
+  }
+}
+
+material traffic_light_green
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_green.png
+      }
+    }
+  }
+}
+
+material traffic_light_yellow
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_yellow.png
+      }
+    }
+  }
+}
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/textures/traffic_light.png
new file mode 100644
index 0000000000000000000000000000000000000000..e185a0d0957a01d69e9583404bd945bf818401fc
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config
new file mode 100644
index 0000000..aba5b4d
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config
@@ -0,0 +1,13 @@
+<?xml version="1.0" ?>
+<model>
+    <name>traffic_light</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Ashekim</name>
+        <email>ashekim@robotis.com</email>
+        <name>Hyungyu Kim</name>
+        <email>kimhg@robotis.com</email>
+    </author>
+    <description>The traffic light.</description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf
new file mode 100644
index 0000000..574730e
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf
@@ -0,0 +1,32 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='traffic_light'>
+    <link name='traffic_light'>
+      <pose>0 0 0 0 0 0</pose>
+      <collision name='collision'>
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>   
+      </collision>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_light/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_light/materials/textures</uri>
+            <name>traffic_light_red</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <plugin name="traffic_light_plugin" filename="libtraffic_light_plugin.so">
+    </plugin>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
new file mode 100644
index 0000000..ac9a9da
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material
@@ -0,0 +1,14 @@
+material traffic_noentry
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_noentry.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/textures/traffic_noentry.png
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config
new file mode 100644
index 0000000..9b71484
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_noentry</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
new file mode 100644
index 0000000..b05968c
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_noentry">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/textures</uri>
+            <name>traffic_noentry</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
new file mode 100644
index 0000000..fe4c119
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material
@@ -0,0 +1,14 @@
+material traffic_parking
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_parking.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/textures/traffic_parking.png
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config
new file mode 100644
index 0000000..f030794
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_parking</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf
new file mode 100644
index 0000000..6227d3a
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_parking">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_parking/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_parking/materials/textures</uri>
+            <name>traffic_parking</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
new file mode 100644
index 0000000..e8b2b07
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material
@@ -0,0 +1,14 @@
+material traffic_pl_left
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_pl_left.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/textures/traffic_pl_left.png
new file mode 100644
index 0000000000000000000000000000000000000000..ede00a0473c304a58c0e89140351a87a67caf67d
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config
new file mode 100644
index 0000000..d973192
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_pl_left</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
new file mode 100644
index 0000000..8eec874
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_pl_left">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/textures</uri>
+            <name>traffic_pl_left</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
new file mode 100644
index 0000000..cd25f5d
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material
@@ -0,0 +1,14 @@
+material traffic_right
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_right.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/textures/traffic_right.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ef164281899519b4aaa4b5722582c5057254617
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config
new file mode 100644
index 0000000..47c141f
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_right</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
new file mode 100644
index 0000000..9023c1c
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_right">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_right/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_right/materials/textures</uri>
+            <name>traffic_right</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
new file mode 100644
index 0000000..1353239
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material
@@ -0,0 +1,14 @@
+material traffic_stop
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_stop.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/textures/traffic_stop.png
new file mode 100644
index 0000000000000000000000000000000000000000..cca5ee47631cb45f739ac511a1605b1f4e52cdb2
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literal 0
HcmV?d00001

diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config
new file mode 100644
index 0000000..37c96e3
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_stop</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf
new file mode 100644
index 0000000..5192704
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_stop">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_stop/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_stop/materials/textures</uri>
+            <name>traffic_stop</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
new file mode 100644
index 0000000..e0bbd27
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material
@@ -0,0 +1,14 @@
+material traffic_tunnel
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture tunnel.png
+      }
+    }
+  }
+}
+
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/textures/tunnel.png
new file mode 100644
index 0000000000000000000000000000000000000000..c44d376036af341dcb7e3aeaad75662f4eb057db
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config
new file mode 100644
index 0000000..6a4cff6
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_tunnel</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
new file mode 100644
index 0000000..0690ff4
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf
@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_tunnel">
+    <pose>0 0 0.125 0 0 0</pose>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/textures</uri>
+            <name>traffic_tunnel</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf b/src/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
new file mode 100644
index 0000000..ed00331
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf
@@ -0,0 +1,408 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_burger/model.config b/src/turtlebot3_gazebo/models/turtlebot3_burger/model.config
new file mode 100644
index 0000000..be0388c
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_burger/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Burger)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Burger
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
new file mode 100644
index 0000000..93b331f
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
@@ -0,0 +1,467 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="velodyne_link">
+      <pose>0 0 0.24 0 0 0</pose>
+      <inertial>
+        <mass>0.12</mass>
+        <inertia>
+          <ixx>0.00012</ixx>
+          <iyy>0.00012</iyy>
+          <izz>0.00012</izz>
+        </inertia>
+      </inertial>
+      <visual name="velodyne_visual">
+        <geometry><cylinder><radius>0.035</radius><length>0.055</length></cylinder></geometry>
+        <material><ambient>0.08 0.08 0.08 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
+      </visual>
+      <collision name="velodyne_collision">
+        <geometry><cylinder><radius>0.035</radius><length>0.055</length></cylinder></geometry>
+      </collision>
+      <sensor name="velodyne_3d" type="ray">
+        <always_on>true</always_on>
+        <visualize>false</visualize>
+        <update_rate>10</update_rate>
+        <ray>
+          <scan>
+            <horizontal><samples>720</samples><resolution>1</resolution><min_angle>-3.141593</min_angle><max_angle>3.141593</max_angle></horizontal>
+            <vertical><samples>16</samples><resolution>1</resolution><min_angle>-0.261799</min_angle><max_angle>0.261799</max_angle></vertical>
+          </scan>
+          <range><min>0.20</min><max>20.0</max><resolution>0.01</resolution></range>
+          <noise><type>gaussian</type><mean>0.0</mean><stddev>0.01</stddev></noise>
+        </ray>
+        <plugin name="velodyne_3d_ros" filename="libgazebo_ros_ray_sensor.so">
+          <ros><remapping>~/out:=raw/lidar</remapping></ros>
+          <output_type>sensor_msgs/PointCloud2</output_type>
+          <frame_name>velodyne_link</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="velodyne_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>velodyne_link</child>
+      <pose>0 0 0.24 0 0 0</pose>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf b/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf
new file mode 100644
index 0000000..ed00331
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf
@@ -0,0 +1,408 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config b/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
new file mode 100644
index 0000000..06a790f
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Burger_cam)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <name>Hyungyu Kim</name>
+    <email>thlim@robotis.com</email>
+    <email>kimhg@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Burger
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
new file mode 100644
index 0000000..89a9518
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
@@ -0,0 +1,495 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="turtlebot3_burger_cam">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>false</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+      <sensor name="camera" type="wideanglecamera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="picam">
+          <horizontal_fov>3.183</horizontal_fov>
+          <image>
+            <width>320</width>
+            <height>240</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.03</near>
+            <far>100</far>
+          </clip>
+          <lens>
+            <type>custom</type>
+            <custom_function>
+              <c1>1.05</c1>
+              <c2>4</c2>
+              <f>1.0</f>
+              <fun>tan</fun>
+            </custom_function>
+            <scale_to_hfov>true</scale_to_hfov>
+            <cutoff_angle>3.1415</cutoff_angle>
+            <env_texture_size>512</env_texture_size>
+          </lens>
+        </camera>
+        <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>30.0</updateRate>
+          <cameraName>camera</cameraName>
+          <frameName>camera_link</frameName>
+          <imageTopicName>image_raw</imageTopicName>
+          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+          <hackBaseline>0.07</hackBaseline>
+          <distortionK1>0.0</distortionK1>
+          <distortionK2>0.0</distortionK2>
+          <distortionK3>0.0</distortionK3>
+          <distortionT1>0.0</distortionT1>
+          <distortionT2>0.0</distortionT2>
+          <ros>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.040 -0.000 0.110 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/burger_base.stl
new file mode 100755
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_base.stl
new file mode 100755
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae
new file mode 100644
index 0000000..5418782
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae
@@ -0,0 +1,220 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:10:17</created>
+    <modified>2020-06-29T17:10:17</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="48">-0.5664003 -1 -1 -1 -0.5664004 -1 -1 -0.5664003 1.061318 -0.5664004 -1 1.061318 -1 0.5664003 -1 -0.5664004 1 -1 -0.5664003 1 1.061318 -1 0.5664004 1.061318 1 -0.5664003 -1 0.5664004 -1 -1 0.5664003 -1 1.061318 1 -0.5664004 1.061318 0.5664003 1 -1 1 0.5664004 -1 1 0.5664003 1.061318 0.5664004 1 1.061318</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-positions-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="60">0 -1 0 1 0 0 0 0 1 -1 0 0 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1 0 -1 0 0 0 1 0 0 1 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="20" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-map-0">
+          <float_array id="Cube_001-mesh-map-0-array" count="168">0.625 0.8041999 0.375 0.9458001 0.375 0.8041999 0.625 0.5541999 0.375 0.6958 0.375 0.5541999 0.8208 0.75 0.6792 0.75 0.625 0.6958 0.625 0.05419993 0.375 0.1958 0.375 0.05419993 0.625 0.3041999 0.375 0.4458 0.375 0.3041999 0.625 0.9458001 0.375 1 0.375 0.9458001 0.375 0.3041999 0.625 0.1958 0.625 0.3041999 0.375 0.5541999 0.625 0.4458 0.625 0.5541999 0.375 0.8041999 0.625 0.6958 0.625 0.8041999 0.3208 0.75 0.1791999 0.75 0.125 0.6958 0.625 0.8041999 0.625 0.9458001 0.375 0.9458001 0.625 0.5541999 0.625 0.6958 0.375 0.6958 0.625 0.6958 0.625 0.5541999 0.875 0.5541999 0.625 0.5541999 0.6791999 0.5 0.875 0.5541999 0.6791999 0.5 0.8208 0.5 0.875 0.5541999 0.875 0.5541999 0.875 0.6958 0.625 0.6958 0.875 0.6958 0.8208 0.75 0.625 0.6958 0.625 0.05419993 0.625 0.1958 0.375 0.1958 0.625 0.3041999 0.625 0.4458 0.375 0.4458 0.625 0.9458001 0.625 1 0.375 1 0.375 0.3041999 0.375 0.1958 0.625 0.1958 0.375 0.5541999 0.375 0.4458 0.625 0.4458 0.375 0.8041999 0.375 0.6958 0.625 0.6958 0.125 0.6958 0.125 0.5541999 0.375 0.5541999 0.125 0.5541999 0.1791999 0.5 0.375 0.5541999 0.1791999 0.5 0.3208 0.5 0.375 0.5541999 0.375 0.5541999 0.375 0.6958 0.125 0.6958 0.375 0.6958 0.3208 0.75 0.125 0.6958</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="84" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles count="28">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>10 0 0 0 0 1 9 0 2 14 1 3 8 1 4 13 1 5 3 2 6 10 2 7 11 2 8 2 3 9 4 3 10 1 3 11 6 4 12 12 4 13 5 4 14 3 5 15 1 5 16 0 5 17 5 6 18 7 6 19 6 6 20 13 7 21 15 7 22 14 7 23 9 8 24 11 8 25 10 8 26 9 9 27 0 9 28 1 9 29 10 10 30 3 10 31 0 10 32 14 1 33 11 1 34 8 1 35 11 11 36 14 11 37 7 11 38 14 2 39 15 2 40 7 2 41 15 2 42 6 2 43 7 2 44 7 12 45 2 12 46 11 12 47 2 2 48 3 2 49 11 2 50 2 3 51 7 3 52 4 3 53 6 13 54 15 13 55 12 13 56 3 14 57 2 14 58 1 14 59 5 15 60 4 15 61 7 15 62 13 16 63 12 16 64 15 16 65 9 17 66 8 17 67 11 17 68 1 18 69 4 18 70 13 18 71 4 9 72 5 9 73 13 9 74 5 9 75 12 9 76 13 9 77 13 19 78 8 19 79 1 19 80 8 9 81 9 9 82 1 9 83</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map-0">
+          <float_array id="Cube-mesh-map-0-array" count="72">0.875 0.5 0.625 0.75 0.625 0.5 0.625 0.75 0.375 1 0.375 0.75 0.625 0 0.375 0.25 0.375 0 0.375 0.5 0.125 0.75 0.125 0.5 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.25 0.375 0.5 0.375 0.25 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0.75 0.625 1 0.375 1 0.625 0 0.625 0.25 0.375 0.25 0.375 0.5 0.375 0.75 0.125 0.75 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.25 0.625 0.5 0.375 0.5</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
+          <p>4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 0 18 6 0 19 2 0 20 2 1 21 6 1 22 7 1 23 6 2 24 4 2 25 5 2 26 1 3 27 3 3 28 7 3 29 0 4 30 2 4 31 3 4 32 4 5 33 0 5 34 1 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_001" name="Cube.001" type="NODE">
+        <matrix sid="transform">68.44905 0 0 0 0 68.44905 0 0 0 0 68.44905 68.59841 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="Cube.001"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae
new file mode 100644
index 0000000..1d5a221
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae
@@ -0,0 +1,188 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:45:14</created>
+    <modified>2020-06-29T17:45:14</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_geometries>
+    <geometry id="Cylinder_001-mesh" name="Cylinder.001">
+      <mesh>
+        <source id="Cylinder_001-mesh-positions">
+          <float_array id="Cylinder_001-mesh-positions-array" count="192">0 0.9268722 -1 0 0.9268722 1 0.1950903 0.9076575 -1 0.1950903 0.9076575 1 0.225372 0.9000011 -1 0.225372 0.9000011 1 0.4678885 0.8314696 -1 0.4678885 0.8314696 1 0.9469422 0.7071068 -1 0.9469422 0.7071068 1 1.189933 0.5555702 -1 1.189933 0.5555702 1 1.395814 0.3826834 -1 1.395814 0.3826834 1 1.553295 0.1950903 -1 1.553295 0.1950903 1 -0.8363682 0.1950913 -1 -0.8363682 0.1950913 1 -0.8258819 0.3826845 -1 -0.8258819 0.3826845 1 -0.790207 0.6525775 -1 -0.790207 0.6525775 1 -0.7071059 0.7682963 -1 -0.7071059 0.7682963 1 -0.658545 0.8314704 -1 -0.658545 0.8314704 1 -0.5632631 0.8806004 -1 -0.5632631 0.8806004 1 -0.1950888 0.9076578 -1 -0.1950888 0.9076578 1 0 -0.9268722 -1 0 -0.9268722 1 0.1950903 -0.9076575 -1 0.1950903 -0.9076575 1 0.225372 -0.9000011 -1 0.225372 -0.9000011 1 0.4678885 -0.8314696 -1 0.4678885 -0.8314696 1 0.9469422 -0.7071068 -1 0.9469422 -0.7071068 1 1.189933 -0.5555702 -1 1.189933 -0.5555702 1 1.395814 -0.3826834 -1 1.395814 -0.3826834 1 1.553295 -0.1950903 -1 1.553295 -0.1950903 1 1.57251 0 -1 1.57251 0 1 -0.8426887 0 -1 -0.8426887 0 1 -0.8363682 -0.1950913 -1 -0.8363682 -0.1950913 1 -0.8258819 -0.3826845 -1 -0.8258819 -0.3826845 1 -0.790207 -0.6525775 -1 -0.790207 -0.6525775 1 -0.7071059 -0.7682963 -1 -0.7071059 -0.7682963 1 -0.658545 -0.8314704 -1 -0.658545 -0.8314704 1 -0.5632631 -0.8806004 -1 -0.5632631 -0.8806004 1 -0.1950888 -0.9076578 -1 -0.1950888 -0.9076578 1</float_array>
+          <technique_common>
+            <accessor source="#Cylinder_001-mesh-positions-array" count="64" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cylinder_001-mesh-normals">
+          <float_array id="Cylinder_001-mesh-normals-array" count="159">0.09801727 0.9951847 0 0.2451251 0.9694915 0 0.2719357 0.9623154 0 0.2512721 0.9679165 0 0.5291629 0.8485203 0 0.643077 0.7658016 0 0.7658989 0.642961 0 0.9951847 0.09801787 0 -0.9994757 0.03238052 0 -0.9984413 0.0558117 0 -0.9913768 0.1310419 0 -0.8122538 0.5833043 0 -0.7928341 0.6094378 0 -0.4582911 0.8888022 0 -0.07329291 0.9973105 0 -0.0980165 0.9951848 0 0 0 1 0 0 -1 0.09801727 -0.9951847 0 0.2451251 -0.9694915 0 0.2719357 -0.9623154 0 0.2512721 -0.9679165 0 0.5291629 -0.8485203 0 0.643077 -0.7658016 0 0.7658989 -0.642961 0 0.9951847 -0.09801787 0 -0.9994757 -0.03238052 0 -0.9984413 -0.0558117 0 -0.9913768 -0.1310419 0 -0.8122538 -0.5833043 0 -0.7928341 -0.6094378 0 -0.4582911 -0.8888022 0 -0.07329291 -0.9973105 0 -0.0980165 -0.9951848 0 0.2451248 0.9694916 0 0.2719357 0.9623154 0 0.2512722 0.9679165 0 0.5291627 0.8485205 0 0.7658985 0.6429616 0 0.9951848 0.09801667 0 -0.9994757 0.03238111 0 -0.8122542 0.5833038 0 -0.07329291 0.9973105 0 0.2451248 -0.9694916 0 0.2719357 -0.9623154 0 0.2512722 -0.9679165 0 0.5291627 -0.8485205 0 0.7658985 -0.6429616 0 0.9951848 -0.09801667 0 -0.9994757 -0.03238111 0 -0.8122542 -0.5833038 0 -0.07329291 -0.9973105 0 -1.87976e-7 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cylinder_001-mesh-normals-array" count="53" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
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0.7031787 0.4853885 0.7031787 0.4853885 0.7968217 0.4853885 0.8833369 0.4495527 0.7968216 0.01461148 0.7031782 0.01461154 0.5146115 0.2031785 0.7031782 0.01461154 0.616663 0.05044734 0.5146115 0.2031785 0.616663 0.05044734 0.5504472 0.1166633 0.5146115 0.2031785 0.5146115 0.2031785 0.5146116 0.2968219 0.7031787 0.4853885 0.5146116 0.2968219 0.5504475 0.3833371 0.7031787 0.4853885 0.7031787 0.4853885 0.8833369 0.4495527 0.9853885 0.2968217 0.9853885 0.2968217 0.9495527 0.1166631 0.7968216 0.01461148 0.7031787 0.4853885 0.9853885 0.2968217 0.5146115 0.2031785</float_array>
+          <technique_common>
+            <accessor source="#Cylinder-mesh-map-0-array" count="372" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder-mesh-positions"/>
+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 53 30 90 37 30 91 21 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 14 33 99 30 33 100 46 33 101 1 0 102 3 0 103 2 0 104 3 34 105 5 34 106 4 34 107 5 2 108 7 2 109 6 2 110 7 35 111 9 35 112 8 35 113 9 36 114 11 36 115 10 36 116 11 5 117 13 5 118 12 5 119 13 6 120 15 6 121 14 6 122 15 7 123 17 7 124 16 7 125 17 37 126 19 37 127 18 37 128 19 9 129 21 9 130 20 9 131 21 38 132 23 38 133 22 38 134 23 39 135 25 39 136 24 39 137 25 12 138 27 12 139 26 12 140 27 13 141 29 13 142 28 13 143 29 40 144 31 40 145 30 40 146 31 15 147 33 15 148 32 15 149 33 16 150 35 16 151 34 16 152 35 41 153 37 41 154 36 41 155 37 18 156 39 18 157 38 18 158 39 42 159 41 42 160 40 42 161 41 43 162 43 43 163 42 43 164 43 21 165 45 21 166 44 21 167 45 44 168 47 44 169 46 44 170 47 45 171 49 45 172 48 45 173 49 46 174 51 46 175 50 46 176 51 25 177 53 25 178 52 25 179 53 47 180 55 47 181 54 47 182 55 27 183 57 27 184 56 27 185 57 48 186 59 48 187 58 48 188 59 29 189 61 29 190 60 29 191 5 49 192 3 49 193 1 49 194 1 49 195 63 49 196 5 49 197 63 49 198 61 49 199 5 49 200 61 49 201 59 49 202 57 49 203 57 49 204 55 49 205 53 49 206 53 50 207 51 50 208 49 50 209 49 49 210 47 49 211 53 49 212 47 49 213 45 49 214 53 49 215 45 49 216 43 49 217 37 49 218 43 49 219 41 49 220 37 49 221 41 49 222 39 49 223 37 49 224 37 49 225 35 49 226 33 49 227 33 49 228 31 49 229 29 49 230 29 49 231 27 49 232 25 49 233 25 49 234 23 49 235 21 49 236 21 51 237 19 51 238 17 51 239 17 49 240 15 49 241 21 49 242 15 49 243 13 49 244 21 49 245 13 49 246 11 49 247 9 49 248 9 49 249 7 49 250 5 49 251 61 49 252 57 49 253 5 49 254 57 49 255 53 49 256 5 49 257 37 49 258 33 49 259 21 49 260 33 49 261 29 49 262 21 49 263 29 49 264 25 49 265 21 49 266 13 52 267 9 52 268 21 52 269 9 53 270 5 53 271 21 53 272 53 54 273 45 54 274 37 54 275 5 49 276 53 49 277 21 49 278 61 55 279 63 55 280 62 55 281 63 32 282 1 32 283 0 32 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 6 33 296 12 33 297 14 33 298 6 33 299 14 33 300 16 33 301 18 33 302 18 33 303 20 33 304 14 33 305 20 33 306 22 33 307 14 33 308 22 33 309 24 33 310 30 33 311 24 33 312 26 33 313 30 33 314 26 33 315 28 33 316 30 33 317 30 33 318 32 33 319 34 33 320 34 33 321 36 33 322 38 33 323 38 33 324 40 33 325 42 33 326 42 33 327 44 33 328 46 33 329 46 56 330 48 56 331 50 56 332 50 57 333 52 57 334 54 57 335 54 33 336 56 33 337 62 33 338 56 33 339 58 33 340 62 33 341 58 33 342 60 33 343 62 33 344 62 33 345 2 33 346 6 33 347 30 33 348 34 33 349 46 33 350 34 33 351 38 33 352 46 33 353 38 33 354 42 33 355 46 33 356 46 58 357 50 58 358 62 58 359 50 33 360 54 33 361 62 33 362 62 33 363 6 33 364 14 33 365 14 33 366 22 33 367 30 33 368 62 59 369 14 59 370 46 59 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder_001" name="Cylinder.001" type="NODE">
+        <matrix sid="transform">39.20936 0 0 0 0 39.20936 0 0 0 0 12.83393 -19.36317 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="Cylinder.001"/>
+      </node>
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">32.70276 0 0 0 0 32.70276 0 0 0 0 9.418456 -0.4915363 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Cylinder"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae
new file mode 100644
index 0000000..4719a1e
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae
@@ -0,0 +1,890 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>Google SketchUp 8.0.4811</authoring_tool>
+        </contributor>
+        <created>2015-05-31T08:41:34Z</created>
+        <modified>2015-05-31T08:41:34Z</modified>
+        <unit meter="0.002539999969303608" name="inch" /><!-- Changed! -->
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <instance_geometry url="#ID2">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID10">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID18">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID24">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID30">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID31">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID38">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID44">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID50">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID51">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID58">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID59">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID66">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID51">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID72">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID78">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID84">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID90">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID51">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID96">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID102">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID108">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID109">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID114">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID109">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID118">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID109">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+                <instance_geometry url="#ID122">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID109">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <library_geometries>
+        <geometry id="ID2">
+            <mesh>
+                <source id="ID5">
+                    <float_array id="ID8" count="72">0.1184986753859656 7.755517072645532 2.24409448818898 51.06260368681876 7.755517072645532 2.165354330708662 0.1184986753859656 7.755517072645532 2.165354330708662 51.06260368681876 7.755517072645532 2.24409448818898 0.1184986753859656 7.755517072645532 2.24409448818898 0.1184986753859656 2.804370064010866 2.165354330708662 0.1184986753859656 2.804370064010866 2.24409448818898 0.1184986753859656 7.755517072645532 2.165354330708662 51.06260368681876 7.755517072645532 2.165354330708662 51.06260368681876 0.1184986753859656 2.24409448818898 51.06260368681876 0.1184986753859656 2.165354330708662 51.06260368681876 7.755517072645532 2.24409448818898 25.61991398185795 2.804370064010866 2.24409448818898 0.1184986753859656 2.804370064010866 2.165354330708662 25.61991398185795 2.804370064010866 2.165354330708662 0.1184986753859656 2.804370064010866 2.24409448818898 51.06260368681876 0.1184986753859656 2.24409448818898 30.70679771243117 0.1184986753859656 2.165354330708662 51.06260368681876 0.1184986753859656 2.165354330708662 30.70679771243117 0.1184986753859656 2.24409448818898 30.70679771243117 0.1184986753859656 2.24409448818898 25.61991398185795 2.804370064010866 2.165354330708662 30.70679771243117 0.1184986753859656 2.165354330708662 25.61991398185795 2.804370064010866 2.24409448818898</float_array>
+                    <technique_common>
+                        <accessor count="24" source="#ID8" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="ID6">
+                    <float_array id="ID9" count="72">0 1 0 0 1 0 0 1 0 0 1 0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0</float_array>
+                    <technique_common>
+                        <accessor count="24" source="#ID9" stride="3">
+                            <param name="X" type="float" />
+                            <param name="Y" type="float" />
+                            <param name="Z" type="float" />
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="ID7">
+                    <input semantic="POSITION" source="#ID5" />
+                    <input semantic="NORMAL" source="#ID6" />
+                </vertices>
+                <triangles count="12" material="Material2">
+                    <input offset="0" semantic="VERTEX" source="#ID7" />
+                    <p>0 1 2 1 0 3 4 5 6 5 4 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23</p>
+                </triangles>
+            </mesh>
+        </geometry>
+        <geometry id="ID10">
+            <mesh>
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae
new file mode 100644
index 0000000..eb1ea6b
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/astra.dae
@@ -0,0 +1,256759 @@
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+    <animation id="-DC_Brep_ncl1_16-anim" name="-DC_Brep_ncl1_16"><animation><source id="-DC_Brep_ncl1_16-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_16-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_20-anim" name="-DC_Brep_ncl1_20"><animation><source id="-DC_Brep_ncl1_20-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_20-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_28-anim" name="-DC_Brep_ncl1_28"><animation><source id="-DC_Brep_ncl1_28-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_28-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_24-anim" name="-DC_Brep_ncl1_24"><animation><source id="-DC_Brep_ncl1_24-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_24-Matrix-animation-input-array" count="0">
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+    <animation id="-DC_Brep_ncl1_25-anim" name="-DC_Brep_ncl1_25"><animation><source id="-DC_Brep_ncl1_25-Matrix-animation-input"><float_array id="-DC_Brep_ncl1_25-Matrix-animation-input-array" count="0">
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae
new file mode 100644
index 0000000..c1ebc6a
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/r200.dae
@@ -0,0 +1,890 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>Google SketchUp 8.0.4811</authoring_tool>
+        </contributor>
+        <created>2015-05-31T08:41:34Z</created>
+        <modified>2015-05-31T08:41:34Z</modified>
+        <unit meter="0.002539999969303608" name="inch" /><!-- Changed! -->
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_visual_scenes>
+        <visual_scene id="ID1">
+            <node name="SketchUp">
+                <instance_geometry url="#ID2">
+                    <bind_material>
+                        <technique_common>
+                            <instance_material symbol="Material2" target="#ID3">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
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+                            <instance_material symbol="Material2" target="#ID11">
+                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                            </instance_material>
+                        </technique_common>
+                    </bind_material>
+                </instance_geometry>
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+                        </technique_common>
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+                </instance_geometry>
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+                        </technique_common>
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+                </instance_geometry>
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+                        </technique_common>
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae
new file mode 100644
index 0000000..f62862f
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae
@@ -0,0 +1,142 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:39:41</created>
+    <modified>2020-06-29T17:39:41</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
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+          <technique_common>
+            <accessor source="#Cylinder_002-mesh-map-0-array" count="372" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder_002-mesh-positions"/>
+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder_002-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 53 30 90 37 30 91 21 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 14 33 99 30 33 100 46 33 101 1 0 102 3 0 103 2 0 104 3 34 105 5 34 106 4 34 107 5 2 108 7 2 109 6 2 110 7 35 111 9 35 112 8 35 113 9 36 114 11 36 115 10 36 116 11 5 117 13 5 118 12 5 119 13 6 120 15 6 121 14 6 122 15 7 123 17 7 124 16 7 125 17 37 126 19 37 127 18 37 128 19 9 129 21 9 130 20 9 131 21 38 132 23 38 133 22 38 134 23 39 135 25 39 136 24 39 137 25 12 138 27 12 139 26 12 140 27 13 141 29 13 142 28 13 143 29 40 144 31 40 145 30 40 146 31 15 147 33 15 148 32 15 149 33 16 150 35 16 151 34 16 152 35 41 153 37 41 154 36 41 155 37 18 156 39 18 157 38 18 158 39 42 159 41 42 160 40 42 161 41 43 162 43 43 163 42 43 164 43 21 165 45 21 166 44 21 167 45 44 168 47 44 169 46 44 170 47 45 171 49 45 172 48 45 173 49 46 174 51 46 175 50 46 176 51 25 177 53 25 178 52 25 179 53 47 180 55 47 181 54 47 182 55 27 183 57 27 184 56 27 185 57 48 186 59 48 187 58 48 188 59 29 189 61 29 190 60 29 191 5 49 192 3 49 193 1 49 194 1 49 195 63 49 196 5 49 197 63 49 198 61 49 199 5 49 200 61 49 201 59 49 202 57 49 203 57 49 204 55 49 205 53 49 206 53 50 207 51 50 208 49 50 209 49 49 210 47 49 211 53 49 212 47 49 213 45 49 214 53 49 215 45 49 216 43 49 217 37 49 218 43 49 219 41 49 220 37 49 221 41 49 222 39 49 223 37 49 224 37 49 225 35 49 226 33 49 227 33 49 228 31 49 229 29 49 230 29 49 231 27 49 232 25 49 233 25 49 234 23 49 235 21 49 236 21 51 237 19 51 238 17 51 239 17 49 240 15 49 241 21 49 242 15 49 243 13 49 244 21 49 245 13 49 246 11 49 247 9 49 248 9 49 249 7 49 250 5 49 251 61 49 252 57 49 253 5 49 254 57 49 255 53 49 256 5 49 257 37 49 258 33 49 259 21 49 260 33 49 261 29 49 262 21 49 263 29 49 264 25 49 265 21 49 266 13 52 267 9 52 268 21 52 269 9 53 270 5 53 271 21 53 272 53 54 273 45 54 274 37 54 275 5 49 276 53 49 277 21 49 278 61 55 279 63 55 280 62 55 281 63 32 282 1 32 283 0 32 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 6 33 296 12 33 297 14 33 298 6 33 299 14 33 300 16 33 301 18 33 302 18 33 303 20 33 304 14 33 305 20 33 306 22 33 307 14 33 308 22 33 309 24 33 310 30 33 311 24 33 312 26 33 313 30 33 314 26 33 315 28 33 316 30 33 317 30 33 318 32 33 319 34 33 320 34 33 321 36 33 322 38 33 323 38 33 324 40 33 325 42 33 326 42 33 327 44 33 328 46 33 329 46 56 330 48 56 331 50 56 332 50 57 333 52 57 334 54 57 335 54 33 336 56 33 337 62 33 338 56 33 339 58 33 340 62 33 341 58 33 342 60 33 343 62 33 344 62 33 345 2 33 346 6 33 347 30 33 348 34 33 349 46 33 350 34 33 351 38 33 352 46 33 353 38 33 354 42 33 355 46 33 356 46 58 357 50 58 358 62 58 359 50 33 360 54 33 361 62 33 362 62 33 363 6 33 364 14 33 365 14 33 366 22 33 367 30 33 368 62 59 369 14 59 370 46 59 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">32.85729 0 0 0 0 -1.43624e-6 -9.10743 0 0 32.85729 -3.98098e-7 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_002-mesh" name="Cylinder"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae
new file mode 100644
index 0000000..24ed3d8
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae
@@ -0,0 +1,220 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:22:52</created>
+    <modified>2020-06-29T17:22:52</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_002-mesh" name="Cube.002">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
+          <float_array id="Cube_002-mesh-positions-array" count="48">-0.7789794 -1 -1 -1 -0.7789794 -1 -1 -0.7789794 1 -0.7789794 -1 1 -1 0.7789794 -1 -0.7789794 1 -1 -0.7789794 1 1 -1 0.7789794 1 1 -0.7789794 -1 0.7789794 -1 -1 0.7789794 -1 1 1 -0.7789794 1 0.7789794 1 -1 1 0.7789794 -1 1 0.7789794 1 0.7789794 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-positions-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-normals">
+          <float_array id="Cube_002-mesh-normals-array" count="30">0 -1 0 1 0 0 0 0 1 -1 0 0 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-normals-array" count="10" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-map-0">
+          <float_array id="Cube_002-mesh-map-0-array" count="168">0.625 0.7776276 0.375 0.9723724 0.375 0.7776276 0.625 0.5276276 0.375 0.7223724 0.375 0.5276276 0.6526276 0.75 0.625 0.7223724 0.875 0.5276276 0.625 0.02762752 0.375 0.2223724 0.375 0.02762752 0.625 0.2776276 0.375 0.4723724 0.375 0.2776276 0.625 0.9723724 0.375 1 0.375 0.9723724 0.375 0.2776276 0.625 0.2223724 0.625 0.2776276 0.375 0.5276276 0.625 0.4723724 0.625 0.5276276 0.375 0.7776276 0.625 0.7223724 0.625 0.7776276 0.1526275 0.75 0.125 0.7223724 0.375 0.5276276 0.625 0.7776276 0.625 0.9723724 0.375 0.9723724 0.625 0.5276276 0.625 0.7223724 0.375 0.7223724 0.625 0.7223724 0.625 0.5276276 0.6526276 0.5 0.6526276 0.5 0.8473724 0.5 0.625 0.7223724 0.8473724 0.5 0.875 0.5276276 0.625 0.7223724 0.875 0.5276276 0.875 0.7223724 0.8473724 0.75 0.8473724 0.75 0.6526276 0.75 0.875 0.5276276 0.625 0.02762752 0.625 0.2223724 0.375 0.2223724 0.625 0.2776276 0.625 0.4723724 0.375 0.4723724 0.625 0.9723724 0.625 1 0.375 1 0.375 0.2776276 0.375 0.2223724 0.625 0.2223724 0.375 0.5276276 0.375 0.4723724 0.625 0.4723724 0.375 0.7776276 0.375 0.7223724 0.625 0.7223724 0.125 0.7223724 0.125 0.5276276 0.1526275 0.5 0.1526275 0.5 0.3473724 0.5 0.125 0.7223724 0.3473724 0.5 0.375 0.5276276 0.125 0.7223724 0.375 0.5276276 0.375 0.7223724 0.3473724 0.75 0.3473724 0.75 0.1526275 0.75 0.375 0.5276276</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-map-0-array" count="84" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
+        </vertices>
+        <triangles count="28">
+          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_002-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map-0">
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+          <technique_common>
+            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
+          <p>4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 0 18 6 0 19 2 0 20 2 1 21 6 1 22 7 1 23 6 2 24 4 2 25 5 2 26 1 3 27 3 3 28 7 3 29 0 4 30 2 4 31 3 4 32 4 5 33 0 5 34 1 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
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+        <instance_geometry url="#Cube_002-mesh" name="Cube.001"/>
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+        <instance_camera url="#Camera-camera"/>
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+        <instance_light url="#Light-light"/>
+      </node>
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae
new file mode 100644
index 0000000..24ed3d8
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_pi_base.dae
@@ -0,0 +1,220 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:22:52</created>
+    <modified>2020-06-29T17:22:52</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_002-mesh" name="Cube.002">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
+          <float_array id="Cube_002-mesh-positions-array" count="48">-0.7789794 -1 -1 -1 -0.7789794 -1 -1 -0.7789794 1 -0.7789794 -1 1 -1 0.7789794 -1 -0.7789794 1 -1 -0.7789794 1 1 -1 0.7789794 1 1 -0.7789794 -1 0.7789794 -1 -1 0.7789794 -1 1 1 -0.7789794 1 0.7789794 1 -1 1 0.7789794 -1 1 0.7789794 1 0.7789794 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-positions-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-normals">
+          <float_array id="Cube_002-mesh-normals-array" count="30">0 -1 0 1 0 0 0 0 1 -1 0 0 0 1 0 -0.7071068 -0.7071068 0 -0.7071068 0.7071068 0 0.7071068 0.7071068 0 0.7071068 -0.7071068 0 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-normals-array" count="10" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-map-0">
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+          <technique_common>
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
+        </vertices>
+        <triangles count="28">
+          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_002-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
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+              <param name="S" type="float"/>
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+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="Material-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
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+        <instance_geometry url="#Cube-mesh" name="Cube">
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\ No newline at end of file
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl b/src/turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl
new file mode 100644
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diff --git a/src/turtlebot3_gazebo/models/turtlebot3_common/model.config b/src/turtlebot3_gazebo/models/turtlebot3_common/model.config
new file mode 100644
index 0000000..5765f26
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_common/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3 Common Mesh</name>
+  <version>2.0</version>
+
+  <author>
+    <name>Will Son</name>
+    <email>willson@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Common Mesh
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
new file mode 100644
index 0000000..d228065
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>goal_box</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
new file mode 100644
index 0000000..606f310
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
@@ -0,0 +1,26 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='goal_box'>
+    <pose frame=''>0 0 0 0 -0 -1.5708</pose>
+    <link name='goal_box'>
+      <visual name='goal_box'>
+        <pose frame=''>0 0 0.0005 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.001</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 0 0 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
new file mode 100644
index 0000000..48f76c2
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>inner_walls</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World Inner Walls
+    </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
new file mode 100644
index 0000000..f13158a
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
@@ -0,0 +1,189 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='inner_walls'>
+    <pose frame=''>0 0 0 0 0 0</pose>
+    <link name='inner_wall_1'>
+      <collision name='inner_wall_1_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-2.0 -1.5 0 0 -0 0</pose>
+    </link>
+    <link name='inner_wall_2'>
+      <collision name='inner_wall_2_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_2_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-0.5 -2.0 0 0 0 -1.5708</pose>
+    </link>
+    <link name='inner_wall_3'>
+      <collision name='inner_wall_3_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_3_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>1.0 -1.0 0 0 -0 1.5708</pose>
+    </link>
+    <link name='inner_wall_4'>
+      <collision name='inner_wall_4_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_4_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>1.2 1.9 0 0 0 -1.5708</pose>
+    </link>
+    <link name='inner_wall_5'>
+      <collision name='inner_wall_5_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_5_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>1.9 0.4 0 0 -0 0</pose>
+    </link>
+    <link name='inner_wall_6'>
+      <collision name='inner_wall_6_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_6_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-0.5 1.5 0 0 -0 0</pose>
+    </link>
+    <link name='inner_wall_7'>
+      <collision name='inner_wall_7_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='inner_wall_7_visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-1.2 0.092 0 0 0 -1.5708</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
new file mode 100644
index 0000000..6472dbb
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>turtlebot3_dqn</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
new file mode 100644
index 0000000..ad77f03
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
@@ -0,0 +1,111 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='turtlebot3_square'>
+    <pose frame=''>0 0 0 0 0 0</pose>
+    <link name='Wall_1'>
+      <collision name='Wall_1_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_1_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-2.425 0 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_2'>
+      <collision name='Wall_2_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_2_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0 2.425 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_3'>
+      <collision name='Wall_3_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_3_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>2.425 0 0 0 0 -1.5708</pose>
+    </link>
+    <link name='Wall_4'>
+      <collision name='Wall_4_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_4_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0 -2.425 0 0 -0 3.14159</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
new file mode 100644
index 0000000..9f53c75
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacle1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
new file mode 100644
index 0000000..741cbf4
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
@@ -0,0 +1,24 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+    <model name="obstacle1">
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </visual>
+      </link>
+    </model>        
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
new file mode 100644
index 0000000..674c579
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacle2</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
new file mode 100644
index 0000000..fcee1b5
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
@@ -0,0 +1,24 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+    <model name="obstacle2">
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </visual>
+      </link>
+    </model>  
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
new file mode 100644
index 0000000..a155efe
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacles</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
new file mode 100644
index 0000000..29bce4e
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
@@ -0,0 +1,153 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='obstacles'>
+    <pose frame=''>0 0 0 0 0 0</pose>
+    <link name='obstacle'>
+      <collision name='obstacle_1'>
+        <pose>-1.0 -1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='obstacle_1'>
+        <pose>-1.0 -1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name='obstacle_2'>
+        <pose>-1.0 1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='obstacle_2'>
+        <pose>-1.0 1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name='obstacle_3'>
+        <pose>1.0 -1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='obstacle_3'>
+        <pose>1.0 -1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+
+      <collision name='obstacle_4'>
+        <pose>1.0 1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='obstacle_4'>
+        <pose>1.0 1.0 0.25 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <static>1</static>
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_house/model.config b/src/turtlebot3_gazebo/models/turtlebot3_house/model.config
new file mode 100644
index 0000000..818fbd3
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_house/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Turtlebot3 House</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    Turtlebot3 House
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_house/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_house/model.sdf
new file mode 100644
index 0000000..4544873
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_house/model.sdf
@@ -0,0 +1,5424 @@
+<sdf version='1.6'>
+  <model name='turtlebot3_house'>
+    <link name='Wall_101'>
+      <pose frame=''>-0.05 3.1 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_101_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_101_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_104'>
+      <pose frame=''>2.3 3.1 0 0 -0 1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_104_Visual_1'>
+        <pose frame=''>2.11625 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.267504 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_104_Visual_2'>
+        <pose frame=''>1.5325 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_104_Visual_0'>
+        <pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.3325 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_104_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>2.11625 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.267504 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <min_depth>0</min_depth>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.5325 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.3325 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      </collision>
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+    <link name='Wall_106'>
+      <pose frame=''>6.2 -0.175 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_106_Visual_1'>
+        <pose frame=''>0.922235 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.905529 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_106_Visual_2'>
+        <pose frame=''>0.019471 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_106_Visual_0'>
+        <pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.944471 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_106_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.922235 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.905529 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
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+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_106_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.944471 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_106_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.019471 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
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+    </link>
+    <link name='Wall_108'>
+      <pose frame=''>-1.37512 -0.17488 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_108_Visual_0'>
+        <pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5.78735 0.15 1</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_108_Visual_1'>
+        <pose frame=''>3.34368 0 0.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.812647 0.15 1</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_108_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>3.34368 0 0.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.812647 0.15 1</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      </collision>
+      <collision name='Wall_108_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5.78735 0.15 1</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
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+    </link>
+    <link name='Wall_81'>
+      <pose frame=''>5.07752 5.2688 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_81_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_81_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
+          </box>
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+        <surface>
+          <friction>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
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+    <link name='Wall_82'>
+      <pose frame=''>1.25 5.26876 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_82_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_82_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
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+              <kp>1e+13</kp>
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+      <visual name='Wall_83_Visual_2'>
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+        <geometry>
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+          <script>
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+          <script>
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+            <name>Gazebo/Wood</name>
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+          <diffuse>1 1 1 1</diffuse>
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+      <visual name='Wall_83_Visual_3'>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
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+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
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+          <diffuse>1 1 1 1</diffuse>
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+      <visual name='Wall_83_Visual_1'>
+        <pose frame=''>0.080993 0 0.25 0 -0 0</pose>
+        <geometry>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+      <visual name='Wall_83_Visual_4'>
+        <pose frame=''>-1.20651 0 2.1 0 -0 0</pose>
+        <geometry>
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+            <size>2.263 0.15 0.8</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
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+        <pose frame=''>-2.41901 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.161986 0.15 2.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.20651 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <mu2>1</mu2>
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+              <use_patch_radius>1</use_patch_radius>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-2.41901 0 1.25 0 -0 0</pose>
+        <geometry>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.080993 0 0.25 0 -0 0</pose>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
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+              <fdir1>0 0 0</fdir1>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_84_Visual'>
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+        <geometry>
+          <box>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
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+            <uri>file://media/materials/scripts/gazebo.material</uri>
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+          <script>
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+            <name>Gazebo/Wood</name>
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+          <diffuse>1 1 1 1</diffuse>
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+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <diffuse>1 1 1 1</diffuse>
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+          <script>
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+            <name>Gazebo/Wood</name>
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+          <diffuse>1 1 1 1</diffuse>
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+        <pose frame=''>0.62212 0 2.1 0 -0 0</pose>
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+              <kp>1e+13</kp>
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+              <kp>1e+13</kp>
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+        <pose frame=''>1.76906 0 1.5 0 -0 0</pose>
+        <geometry>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <pose frame=''>1.10306 0 0.25 0 -0 0</pose>
+        <geometry>
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+              <fdir1>0 0 0</fdir1>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.14694 0 1.25 0 -0 0</pose>
+        <geometry>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>-7.5 -1.5 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
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+        <pose frame=''>0.28462 0 0.25 0 -0 0</pose>
+        <geometry>
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+        <material>
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+            <name>Gazebo/Wood</name>
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+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_86_Visual_4'>
+        <pose frame=''>-1.22476 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_86_Visual_0'>
+        <pose frame=''>-2.21538 0 1.25 0 -0 0</pose>
+        <geometry>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_86_Visual_5'>
+        <pose frame=''>1.22246 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_86_Visual_2'>
+        <pose frame=''>0.0521 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.14172 0.15 2</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_86_Visual_3'>
+        <pose frame=''>2.16098 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_86_Collision_4'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.22476 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.412 0.15 0.8</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.22246 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <fdir1>0 0 0</fdir1>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.0521 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
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+        </geometry>
+        <surface>
+          <friction>
+            <ode>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+        <pose frame=''>0.28462 0 0.25 0 -0 0</pose>
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+              <kp>1e+13</kp>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <pose frame=''>2.16098 0 1.5 0 -0 0</pose>
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+              <kp>1e+13</kp>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <pose frame=''>-2.21538 0 1.25 0 -0 0</pose>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
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+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_87_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <diffuse>1 1 1 1</diffuse>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_88_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
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+              <mu2>1</mu2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+    <link name='Wall_90'>
+      <pose frame=''>1.125 0.925 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_90_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
+          </box>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <collision name='Wall_90_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>2.29994 0.37506 0 0 0 -1.57091</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_91_Visual_0'>
+        <pose frame=''>-0.551501 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.146998 0.15 2.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_91_Visual_2'>
+        <pose frame=''>-0.028002 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_91_Visual_1'>
+        <pose frame=''>0.523499 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.203002 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_91_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.551501 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.146998 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.523499 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.203002 0.15 2.5</size>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      <collision name='Wall_91_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.028002 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
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+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
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+              <kp>1e+13</kp>
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+      <visual name='Wall_93_Visual'>
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+        <geometry>
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+          <script>
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+          <diffuse>1 1 1 1</diffuse>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
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+              <kp>1e+13</kp>
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+        <geometry>
+          <box>
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+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <diffuse>1 1 1 1</diffuse>
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+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
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+            <threshold>1e+06</threshold>
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+              <kp>1e+13</kp>
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+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
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+        <pose frame=''>0.295715 0 0.25 0 -0 0</pose>
+        <geometry>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <diffuse>1 1 1 1</diffuse>
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+        <transparency>0</transparency>
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+        <pose frame=''>-0.036959 0 1.5 0 -0 0</pose>
+        <geometry>
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+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <pose frame=''>2.43783 0 1.5 0 -0 0</pose>
+        <geometry>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_95_Visual_5'>
+        <pose frame=''>1.42565 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.65 0.15 0.8</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_95_Visual_4'>
+        <pose frame=''>-1.35407 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.359 0.15 0.8</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <pose frame=''>-2.32929 0 1.25 0 -0 0</pose>
+        <geometry>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.036959 0 1.5 0 -0 0</pose>
+        <geometry>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>2.43783 0 1.5 0 -0 0</pose>
+        <geometry>
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+              <fdir1>0 0 0</fdir1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.42565 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <fdir1>0 0 0</fdir1>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-2.32929 0 1.25 0 -0 0</pose>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.295715 0 0.25 0 -0 0</pose>
+        <geometry>
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+              <kp>1e+13</kp>
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+              <kp>1e+13</kp>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <visual name='Wall_96_Visual_1'>
+        <pose frame=''>0.75174 0 0.25 0 -0 0</pose>
+        <geometry>
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+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+        <transparency>0</transparency>
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+        <pose frame=''>2.06924 0 1.5 0 -0 0</pose>
+        <geometry>
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+            <size>1.36152 0.15 2</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_96_Visual_3'>
+        <pose frame=''>0.070981 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.635 0.15 0.8</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_96_Visual_0'>
+        <pose frame=''>-1.99826 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.50348 0.15 2.5</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <collision name='Wall_96_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>2.06924 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.36152 0.15 2</size>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.99826 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.070981 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.635 0.15 0.8</size>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.75174 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>-6.325 0.925 0 0 -0 0</pose>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_98_Visual_2'>
+        <pose frame=''>0.015777 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_98_Visual_1'>
+        <pose frame=''>0.857889 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.784223 0.15 2.5</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_98_Visual_0'>
+        <pose frame=''>-0.842111 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.815777 0.15 2.5</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.842111 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.815777 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.857889 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.784223 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.015777 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
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+          <diffuse>1 1 1 1</diffuse>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.215786 0 2.25 0 -0 0</pose>
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+    <model name='Mailbox'>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://mailbox/meshes/mailbox.dae</uri>
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+        <visual name='visual'>
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+              <uri>model://mailbox/meshes/mailbox.dae</uri>
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+          <material>
+            <script>
+              <uri>model://mailbox/materials/scripts</uri>
+              <uri>model://mailbox/materials/textures</uri>
+              <name>Mailbox/Diffuse</name>
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+              <name>Gazebo/Wood</name>
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+              <name>Gazebo/Wood</name>
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+          <geometry>
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+              <name>Gazebo/Wood</name>
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+          <geometry>
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+          <geometry>
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+            <script>
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+              <name>Gazebo/Wood</name>
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+              <name>Gazebo/Wood</name>
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+              <name>Gazebo/Wood</name>
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+              <name>Gazebo/Wood</name>
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+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.6</mu>
+                <mu2>0.6</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual1'>
+          <pose frame=''>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.4 0.8 0.04</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_left_leg'>
+          <pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='front_left_leg'>
+          <pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_right_leg'>
+          <pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='front_right_leg'>
+          <pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_right_leg'>
+          <pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='back_right_leg'>
+          <pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_left_leg'>
+          <pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='back_left_leg'>
+          <pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+      <pose frame=''>-2.65728 2.42376 0 0 -0 0</pose>
+    </model>
+    <model name='table_marble'>
+      <static>1</static>
+      <pose frame=''>4.88346 2.92577 0.648 0 -0 0</pose>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://table_marble/meshes/table_lightmap.dae</uri>
+              <scale>0.25 0.25 0.25</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://table_marble/meshes/table_lightmap.dae</uri>
+              <scale>0.25 0.25 0.25</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://table_marble/materials/scripts</uri>
+              <uri>model://table_marble/materials/textures</uri>
+              <name>Table/Marble_Lightmap</name>
+            </script>
+            <lighting>0</lighting>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf b/src/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
new file mode 100644
index 0000000..f20453a
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_waffle/model-1_4.sdf
@@ -0,0 +1,520 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_waffle">  
+  <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <inertia>
+          <ixx>4.2111447e-02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.2111447e-02</iyy>
+          <iyz>0</iyz>
+          <izz>7.5254874e-02</izz>
+        </inertia>
+        <mass>1.3729096e+00</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.265 0.265 0.089</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.064 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">    
+      <inertial>
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0.0 0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+    
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_right_link'>
+      <pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='caster_back_left_link'>
+      <pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_frame">
+      <inertial>
+        <pose>0.069 -0.047 0.107 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.069 -0.047 0.107 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="intel_realsense_r200">
+          <horizontal_fov>1.02974</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <!-- Noise is sampled independently per pixel on each frame.
+                  That pixel's noise value is added to each of its color
+                  channels, which at that point lie in the range [0,1]. -->
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- <namespace>test_cam</namespace> -->
+              <!-- <remapping>image_raw:=image_demo</remapping> -->
+              <!-- <remapping>camera_info:=camera_info_demo</remapping> -->
+            </ros>
+            <!-- camera_name>omit so it defaults to sensor name</camera_name-->
+            <!-- frame_name>omit so it defaults to link name</frameName-->
+            <!-- <hack_baseline>0.07</hack_baseline> -->
+          </plugin>
+      </sensor>
+    </link>    
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_right_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_right_link</child>
+    </joint>
+
+    <joint name='caster_back_left_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_left_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>    
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.064 0 0.121 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.064 -0.065 0.094 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_rgb_joint" type="fixed">
+      <parent>camera_link</parent>
+      <child>camera_rgb_frame</child>
+      <pose>0.005 0.018 0.013 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>    
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_waffle/model.config b/src/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
new file mode 100644
index 0000000..b7a7c77
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Waffle)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Waffle
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
new file mode 100644
index 0000000..25df016
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
@@ -0,0 +1,536 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_waffle">  
+  <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <inertia>
+          <ixx>4.2111447e-02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.2111447e-02</iyy>
+          <iyz>0</iyz>
+          <izz>7.5254874e-02</izz>
+        </inertia>
+        <mass>1.3729096e+00</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.265 0.265 0.089</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.064 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/waffle_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">    
+      <inertial>
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0.0 0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+    
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_right_link'>
+      <pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='caster_back_left_link'>
+      <pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_frame">
+      <inertial>
+        <pose>0.069 -0.047 0.107 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.069 -0.047 0.107 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="intel_realsense_r200">
+          <horizontal_fov>1.02974</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <!-- Noise is sampled independently per pixel on each frame.
+                  That pixel's noise value is added to each of its color
+                  channels, which at that point lie in the range [0,1]. -->
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- <namespace>test_cam</namespace> -->
+              <!-- <remapping>image_raw:=image_demo</remapping> -->
+              <!-- <remapping>camera_info:=camera_info_demo</remapping> -->
+            </ros>
+            <!-- camera_name>omit so it defaults to sensor name</camera_name-->
+            <!-- frame_name>omit so it defaults to link name</frameName-->
+            <!-- <hack_baseline>0.07</hack_baseline> -->
+          </plugin>
+      </sensor>
+    </link>    
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_right_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_right_link</child>
+    </joint>
+
+    <joint name='caster_back_left_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_left_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>    
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.064 0 0.121 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.064 -0.065 0.094 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_rgb_joint" type="fixed">
+      <parent>camera_link</parent>
+      <child>camera_rgb_frame</child>
+      <pose>0.005 0.018 0.013 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>    
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf b/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf
new file mode 100644
index 0000000..3e791b9
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model-1_4_.sdf
@@ -0,0 +1,520 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_waffle_pi">  
+  <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <inertia>
+          <ixx>4.2111447e-02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.2111447e-02</iyy>
+          <iyz>0</iyz>
+          <izz>7.5254874e-02</izz>
+        </inertia>
+        <mass>1.3729096e+00</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.265 0.265 0.089</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.064 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/waffle_pi_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">    
+      <inertial>
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0.0 0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.1175580e-05</ixx>
+          <ixy>-4.2369783e-11</ixy>
+          <ixz>-5.9381719e-09</ixz>
+          <iyy>1.1192413e-05</iyy>
+          <iyz>-1.4400107e-11</iyz>
+          <izz>2.0712558e-05</izz>
+        </inertia>
+        <mass>0.1</mass>
+      </inertial>
+    
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_right_link'>
+      <pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='caster_back_left_link'>
+      <pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_frame">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="picam">
+          <horizontal_fov>1.085595</horizontal_fov>
+          <image>
+              <width>640</width>
+              <height>480</height>
+              <format>R8G8B8</format>
+          </image>
+          <clip>
+              <near>0.03</near>
+              <far>100</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <!-- Noise is sampled independently per pixel on each frame.
+                  That pixel's noise value is added to each of its color
+                  channels, which at that point lie in the range [0,1]. -->
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- <namespace>test_cam</namespace> -->
+              <!-- <remapping>image_raw:=image_demo</remapping> -->
+              <!-- <remapping>camera_info:=camera_info_demo</remapping> -->
+            </ros>
+            <!-- camera_name>omit so it defaults to sensor name</camera_name-->
+            <!-- frame_name>omit so it defaults to link name</frameName-->
+            <!-- <hack_baseline>0.07</hack_baseline> -->
+          </plugin>
+      </sensor>
+    </link>    
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_right_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_right_link</child>
+    </joint>
+
+    <joint name='caster_back_left_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_left_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>    
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.064 0 0.121 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.073 -0.011 0.084 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_rgb_joint" type="fixed">
+      <parent>camera_link</parent>
+      <child>camera_rgb_frame</child>
+      <pose>0.003 0.011 0.009 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>    
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config b/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
new file mode 100644
index 0000000..2730a6d
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Waffle Pi)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Waffle Pi
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
new file mode 100644
index 0000000..99c76ae
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
@@ -0,0 +1,536 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_waffle_pi">  
+  <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <inertia>
+          <ixx>4.2111447e-02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>4.2111447e-02</iyy>
+          <iyz>0</iyz>
+          <izz>7.5254874e-02</izz>
+        </inertia>
+        <mass>1.3729096e+00</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.064 0 0.048 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.265 0.265 0.089</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.064 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/waffle_pi_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">    
+      <inertial>
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.052 0 0.111 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000</mu>
+              <mu2>100000</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0.0 0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+    
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000</mu>
+              <mu2>100000</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.144 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_right_link'>
+      <pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name='caster_back_left_link'>
+      <pose>-0.177 0.064 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>0.00001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.00001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.00001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_optical_frame">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="picam">
+          <horizontal_fov>1.085595</horizontal_fov>
+          <image>
+              <width>640</width>
+              <height>480</height>
+              <format>R8G8B8</format>
+          </image>
+          <clip>
+              <near>0.03</near>
+              <far>100</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <!-- Noise is sampled independently per pixel on each frame.
+                  That pixel's noise value is added to each of its color
+                  channels, which at that point lie in the range [0,1]. -->
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- <namespace>test_cam</namespace> -->
+              <!-- <remapping>image_raw:=image_demo</remapping> -->
+              <!-- <remapping>camera_info:=camera_info_demo</remapping> -->
+            </ros>
+            <!-- camera_name>omit so it defaults to sensor name</camera_name-->
+            <!-- frame_name>omit so it defaults to link name</frameName-->
+            <!-- <hack_baseline>0.07</hack_baseline> -->
+          </plugin>
+      </sensor>
+    </link>    
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_right_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_right_link</child>
+    </joint>
+
+    <joint name='caster_back_left_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_left_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>    
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.064 0 0.121 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.073 -0.011 0.084 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_rgb_joint" type="fixed">
+      <parent>camera_link</parent>
+      <child>camera_rgb_optical_frame</child>
+      <pose>0.003 0.011 0.009 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>    
+
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae b/src/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
new file mode 100644
index 0000000..c548e5f
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_world/meshes/hexagon.dae
@@ -0,0 +1,76 @@
+<COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+  <created>2017-03-30T01:06:40</created>
+  <modified>2017-03-30T01:06:40</modified>
+  <unit name="inch" meter="0.0254"/>
+  <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_visual_scenes>
+  <visual_scene id="ID1">
+   <node>
+    <instance_geometry url="#ID2">
+     <bind_material>
+      <technique_common>
+       <instance_material symbol="Material0" target="#ID9"/>
+      </technique_common>
+     </bind_material>
+    </instance_geometry>
+   </node>
+  </visual_scene>
+ </library_visual_scenes>
+ <library_geometries>
+  <geometry id="ID2">
+   <mesh>
+    <source id="ID3">
+     <float_array id="ID4" count="108">-28.8675 50 100 -57.735 9.66338e-13 0 -57.735 1.13687e-12 100 -28.8675 50 0 -57.735 1.13687e-12 100 -28.8675 -50 0 -28.8675 -50 100 -57.735 9.66338e-13 0 -28.8675 -50 100 28.8675 -50 0 28.8675 -50 100 -28.8675 -50 0 28.8675 -50 100 57.735 1.7053e-12 0 57.735 1.36424e-12 100 28.8675 -50 0 57.735 1.36424e-12 100 28.8675 50 2.498e-13 28.8675 50 100 57.735 1.7053e-12 0 28.8675 50 100 -28.8675 50 0 -28.8675 50 100 28.8675 50 2.498e-13 -57.735 1.13687e-12 100 57.735 1.36424e-12 100 -28.8675 50 100 -28.8675 -50 100 28.8675 -50 100 28.8675 50 100 -57.735 9.66338e-13 0 28.8675 -50 0 -28.8675 -50 0 57.735 1.7053e-12 0 -28.8675 50 0 28.8675 50 2.498e-13</float_array>
+     <technique_common>
+      <accessor stride="3" count="36" source="#ID4">
+       <param type="float" name="X"/>
+       <param type="float" name="Y"/>
+       <param type="float" name="Z"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <source id="ID5">
+     <float_array id="ID6" count="108">-0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 -0.866025 -0.5 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 5.51091e-16 -1 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 -0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 0.866025 0.5 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 -4.28626e-16 1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1</float_array>
+     <technique_common>
+      <accessor stride="3" count="36" source="#ID6">
+       <param type="float" name="X"/>
+       <param type="float" name="Y"/>
+       <param type="float" name="Z"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <vertices id="ID7">
+     <input semantic="POSITION" source="#ID3"/>
+     <input semantic="NORMAL" source="#ID5"/>
+    </vertices>
+    <triangles count="20" material="Material0">
+     <input semantic="VERTEX" source="#ID7" offset="0"/>
+     <p>0 1 2 1 0 3 4 5 6 5 4 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23 24 25 26 24 27 28 28 25 24 26 25 29 30 31 32 31 30 33 33 34 35 33 30 34</p>
+    </triangles>
+   </mesh>
+  </geometry>
+ </library_geometries>
+ <library_materials>
+  <material id="ID9">
+   <instance_effect url="#ID8"/>
+  </material>
+ </library_materials>
+ <library_effects>
+  <effect id="ID8">
+   <profile_COMMON>
+    <technique sid="COMMON">
+     <lambert>
+      <diffuse>
+       <color>0.392157 0.976471 0.121569 1</color>
+      </diffuse>
+     </lambert>
+    </technique>
+   </profile_COMMON>
+  </effect>
+ </library_effects>
+ <scene>
+  <instance_visual_scene url="#ID1"/>
+ </scene>
+</COLLADA>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae b/src/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
new file mode 100644
index 0000000..aa738ce
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_world/meshes/wall.dae
@@ -0,0 +1,76 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+  <created>2017-03-30T02:35:53</created>
+  <modified>2017-03-30T02:35:53</modified>
+  <unit name="inch" meter="0.0254"/>
+  <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_visual_scenes>
+  <visual_scene id="ID1">
+   <node>
+    <instance_geometry url="#ID2">
+     <bind_material>
+      <technique_common>
+       <instance_material symbol="Material0" target="#ID9"/>
+      </technique_common>
+     </bind_material>
+    </instance_geometry>
+   </node>
+  </visual_scene>
+ </library_visual_scenes>
+ <library_geometries>
+  <geometry id="ID2">
+   <mesh>
+    <source id="ID3">
+     <float_array count="216" id="ID4">-400 230.94 0 -400 230.94 200 4.54747e-13 461.88 200 6.25278e-13 461.88 0 6.25278e-13 461.88 0 4.54747e-13 461.88 200 400 230.94 200 400 230.94 0 400 230.94 0 400 230.94 200 400 -230.94 200 400 -230.94 0 400 -230.94 0 400 -230.94 200 -1.7053e-13 -461.88 200 2.27374e-13 -461.88 0 2.27374e-13 -461.88 0 -1.7053e-13 -461.88 200 -400 -230.94 200 -400 -230.94 0 450 259.808 200 -3.69482e-13 519.615 200 -2.27374e-13 519.615 0 450 259.808 0 -3.69482e-13 519.615 200 -450 259.808 200 -450 259.808 0 -2.27374e-13 519.615 0 -450 259.808 200 -450 -259.808 200 -450 -259.808 0 -450 259.808 0 -450 -259.808 200 -1.13687e-13 -519.615 200 -2.27374e-13 -519.615 0 -450 -259.808 0 -1.13687e-13 -519.615 200 450 -259.808 200 450 -259.808 0 -2.27374e-13 -519.615 0 450 -259.808 0 450 259.808 200 450 259.808 0 450 -259.808 200 -400 -230.94 0 -400 -230.94 200 -400 230.94 200 -400 230.94 0 -1.7053e-13 -461.88 200 -1.13687e-13 -519.615 200 -400 -230.94 200 -450 -259.808 200 -450 259.808 200 450 -259.808 200 400 -230.94 200 400 230.94 200 4.54747e-13 461.88 200 -3.69482e-13 519.615 200 -400 230.94 200 450 259.808 200 -2.27374e-13 -519.615 0 400 -230.94 0 2.27374e-13 -461.88 0 400 230.94 0 -2.27374e-13 519.615 0 6.25278e-13 461.88 0 450 -259.808 0 450 259.808 0 -400 230.94 0 -450 259.808 0 -400 -230.94 0 -450 -259.808 0</float_array>
+     <technique_common>
+      <accessor count="72" source="#ID4" stride="3">
+       <param name="X" type="float"/>
+       <param name="Y" type="float"/>
+       <param name="Z" type="float"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <source id="ID5">
+     <float_array count="216" id="ID6">0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -0.5 -0.866025 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -1 -6.12323e-17 -0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -0.5 0.866025 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -1 -5.21642e-16 0 -0.5 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866025 0 -0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 0.5 -0.866025 0 1 0 0 1 0 0 1 0 0 1 0 0 1 1.83697e-16 0 1 1.83697e-16 0 1 1.83697e-16 0 1 1.83697e-16 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1</float_array>
+     <technique_common>
+      <accessor count="72" source="#ID6" stride="3">
+       <param name="X" type="float"/>
+       <param name="Y" type="float"/>
+       <param name="Z" type="float"/>
+      </accessor>
+     </technique_common>
+    </source>
+    <vertices id="ID7">
+     <input semantic="POSITION" source="#ID3"/>
+     <input semantic="NORMAL" source="#ID5"/>
+    </vertices>
+    <triangles count="48" material="Material0">
+     <input semantic="VERTEX" source="#ID7" offset="0"/>
+     <p>0 2 1 0 3 2 4 6 5 4 7 6 8 10 9 8 11 10 12 14 13 12 15 14 16 18 17 16 19 18 20 22 21 22 20 23 24 26 25 26 24 27 28 30 29 30 28 31 32 34 33 34 32 35 36 38 37 38 36 39 40 42 41 40 41 43 44 46 45 44 47 46 48 50 49 50 52 51 53 54 49 55 57 56 48 49 54 57 52 58 58 56 57 53 59 55 57 55 59 53 55 54 49 50 51 52 50 58 60 62 61 63 65 64 63 67 66 68 69 64 66 61 63 64 67 63 60 61 66 60 70 62 69 70 71 60 71 70 64 65 68 69 68 70</p>
+    </triangles>
+   </mesh>
+  </geometry>
+ </library_geometries>
+ <library_materials>
+  <material id="ID9">
+   <instance_effect url="#ID8"/>
+  </material>
+ </library_materials>
+ <library_effects>
+  <effect id="ID8">
+   <profile_COMMON>
+    <technique sid="COMMON">
+     <lambert>
+      <diffuse>
+       <color>0.603922 0.647059 0.686275 1</color>
+      </diffuse>
+     </lambert>
+    </technique>
+   </profile_COMMON>
+  </effect>
+ </library_effects>
+ <scene>
+  <instance_visual_scene url="#ID1"/>
+ </scene>
+</COLLADA>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf b/src/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
new file mode 100644
index 0000000..330bd32
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_world/model-1_4.sdf
@@ -0,0 +1,549 @@
+<sdf version='1.4'>
+    <!-- Draw Circle -->
+    <model name='ros_symbol'>
+      <static>1</static>
+      <link name='symbol'>
+        <collision name='one_one'>
+          <pose>-1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_one'>
+          <pose>-1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='one_two'>
+          <pose>-1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_two'>
+          <pose>-1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='one_three'>
+          <pose>-1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_three'>
+          <pose>-1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_one'>
+          <pose>0 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_one'>
+          <pose>0 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_two'>
+          <pose>0 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_two'>
+          <pose>0 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_three'>
+          <pose>0 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_three'>
+          <pose>0 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_one'>
+          <pose>1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_one'>
+          <pose>1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_two'>
+          <pose>1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_two'>
+          <pose>1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_three'>
+          <pose>1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_three'>
+          <pose>1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <!-- Draw Hexagon -->
+        <collision name='head'>
+          <pose>3.5 0 -0.5 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.8 0.8 0.8</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='head'>
+          <pose>3.5 0 -0.5 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.8 0.8 0.8</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='left_hand'>
+          <pose>1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='left_hand'>
+          <pose>1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='right_hand'>
+          <pose>1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='right_hand'>
+          <pose>1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='left_foot'>
+          <pose>-1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='left_foot'>
+          <pose>-1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='right_foot'>
+          <pose>-1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='right_foot'>
+          <pose>-1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <!-- Draw Wall -->
+        <collision name='body'>
+        <pose>0 0 -0.3 0 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_world/meshes/wall.dae</uri>
+            <scale>0.25 0.25 0.25</scale>
+          </mesh>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='body'>
+        <pose>0 0 -0.3 0 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_world/meshes/wall.dae</uri>
+            <scale>0.25 0.25 0.25</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/FlatBlack</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_world/model.config b/src/turtlebot3_gazebo/models/turtlebot3_world/model.config
new file mode 100644
index 0000000..bc6a666
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_world/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3 World</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>  
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    World of TurtleBot3 with ROS symbol
+  </description>
+</model>
diff --git a/src/turtlebot3_gazebo/models/turtlebot3_world/model.sdf b/src/turtlebot3_gazebo/models/turtlebot3_world/model.sdf
new file mode 100644
index 0000000..d733d00
--- /dev/null
+++ b/src/turtlebot3_gazebo/models/turtlebot3_world/model.sdf
@@ -0,0 +1,549 @@
+<sdf version='1.5'>
+    <!-- Draw Circle -->
+    <model name='ros_symbol'>
+      <static>1</static>
+      <link name='symbol'>
+        <collision name='one_one'>
+          <pose>-1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_one'>
+          <pose>-1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='one_two'>
+          <pose>-1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_two'>
+          <pose>-1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='one_three'>
+          <pose>-1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='one_three'>
+          <pose>-1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_one'>
+          <pose>0 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_one'>
+          <pose>0 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_two'>
+          <pose>0 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_two'>
+          <pose>0 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='two_three'>
+          <pose>0 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='two_three'>
+          <pose>0 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_one'>
+          <pose>1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_one'>
+          <pose>1.1 -1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_two'>
+          <pose>1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_two'>
+          <pose>1.1 0 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='three_three'>
+          <pose>1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='three_three'>
+          <pose>1.1 1.1 0.25 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.15</radius>
+              <length>0.5</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+
+        <!-- Draw Hexagon -->
+        <collision name='head'>
+          <pose>3.5 0 -0.5 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.8 0.8 0.8</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='head'>
+          <pose>3.5 0 -0.5 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.8 0.8 0.8</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='left_hand'>
+          <pose>1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='left_hand'>
+          <pose>1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='right_hand'>
+          <pose>1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='right_hand'>
+          <pose>1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='left_foot'>
+          <pose>-1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='left_foot'>
+          <pose>-1.8 2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <collision name='right_foot'>
+          <pose>-1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <bounce/>
+            <friction>
+              <ode/>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name='right_foot'>
+          <pose>-1.8 -2.7 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_world/meshes/hexagon.dae</uri>
+              <scale>0.55 0.55 0.55</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Green</name>
+            </script>
+          </material>
+        </visual>
+
+        <!-- Draw Wall -->
+        <collision name='body'>
+        <pose>0 0 -0.3 0 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_world/meshes/wall.dae</uri>
+            <scale>0.25 0.25 0.25</scale>
+          </mesh>
+        </geometry>
+        <max_contacts>10</max_contacts>
+        <surface>
+          <bounce/>
+          <friction>
+            <ode/>
+          </friction>
+          <contact>
+            <ode/>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name='body'>
+        <pose>0 0 -0.3 0 0 -1.5708</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_world/meshes/wall.dae</uri>
+            <scale>0.25 0.25 0.25</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/FlatBlack</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/turtlebot3_gazebo/package.xml b/src/turtlebot3_gazebo/package.xml
new file mode 100644
index 0000000..6833875
--- /dev/null
+++ b/src/turtlebot3_gazebo/package.xml
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turtlebot3_gazebo</name>
+  <version>2.3.8</version>
+  <description>
+    Gazebo simulation package for the TurtleBot3
+  </description>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <license>Apache 2.0</license>
+  <url type="website">http://turtlebot3.robotis.com</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_simulations</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues</url>
+  <author email="thlim@robotis.com">Darby Lim</author>
+  <author email="pyo@robotis.com">Pyo</author>
+  <author>Ryan Shim</author>
+  <author email="kimhg@robotis.com">Hyungyu Kim</author>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>gazebo_ros_pkgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2</depend>
+  <exec_depend>turtlebot3_description</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/models"/>
+  </export>
+</package>
diff --git a/src/turtlebot3_gazebo/rviz/tb3_gazebo.rviz b/src/turtlebot3_gazebo/rviz/tb3_gazebo.rviz
new file mode 100644
index 0000000..87fbdae
--- /dev/null
+++ b/src/turtlebot3_gazebo/rviz/tb3_gazebo.rviz
@@ -0,0 +1,335 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 694
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        base_scan:
+          Value: true
+        camera_link:
+          Value: true
+        camera_rgb_frame:
+          Value: true
+        camera_rgb_optical_frame:
+          Value: true
+        caster_back_left_link:
+          Value: true
+        caster_back_right_link:
+          Value: true
+        imu_link:
+          Value: true
+        odom:
+          Value: true
+        wheel_left_link:
+          Value: true
+        wheel_right_link:
+          Value: true
+      Marker Scale: 0.699999988079071
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        odom:
+          base_footprint:
+            base_link:
+              base_scan:
+                {}
+              camera_link:
+                camera_rgb_frame:
+                  camera_rgb_optical_frame:
+                    {}
+              caster_back_left_link:
+                {}
+              caster_back_right_link:
+                {}
+              imu_link:
+                {}
+              wheel_left_link:
+                {}
+              wheel_right_link:
+                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.019999999552965164
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odom
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_scan:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_rgb_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        caster_back_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_back_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wheel_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /move_base_simple/goal
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7853981852531433
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz_default_plugins)
+      Yaw: 0.7853981852531433
+    Saved:
+      - Class: rviz_default_plugins/Orbit
+        Distance: 5
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.7853981852531433
+        Target Frame: <Fixed Frame>
+        Value: Orbit (rviz_default_plugins)
+        Yaw: 0.7853981852531433
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 923
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000019300000341fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000341000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000341000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002820000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1328
+  X: 168
+  Y: 71
diff --git a/src/turtlebot3_gazebo/src/obstacle1.cpp b/src/turtlebot3_gazebo/src/obstacle1.cpp
new file mode 100644
index 0000000..63540ad
--- /dev/null
+++ b/src/turtlebot3_gazebo/src/obstacle1.cpp
@@ -0,0 +1,64 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#include "turtlebot3_gazebo/obstacle1.hpp"
+
+namespace gazebo
+{
+void Obstacle1::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+{
+  this->model = _parent;
+
+  gazebo::common::PoseAnimationPtr anim(
+    new gazebo::common::PoseAnimation("move1", 160.0, true));
+
+  gazebo::common::PoseKeyFrame * key;
+
+  key = anim->CreateKeyFrame(0);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(10);
+  key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(50);
+  key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(70);
+  key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(90);
+  key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(130);
+  key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(140);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(160);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  _parent->SetAnimation(anim);
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_gazebo/src/obstacle2.cpp b/src/turtlebot3_gazebo/src/obstacle2.cpp
new file mode 100644
index 0000000..967e282
--- /dev/null
+++ b/src/turtlebot3_gazebo/src/obstacle2.cpp
@@ -0,0 +1,80 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#include "turtlebot3_gazebo/obstacle2.hpp"
+
+namespace gazebo
+{
+void Obstacle2::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+{
+  this->model = _parent;
+
+  gazebo::common::PoseAnimationPtr anim(
+    new gazebo::common::PoseAnimation("move2", 140.0, true));
+
+  gazebo::common::PoseKeyFrame * key;
+
+  key = anim->CreateKeyFrame(0);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(10);
+  key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(40);
+  key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(55);
+  key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(85);
+  key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(100);
+  key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(110);
+  key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(115);
+  key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(120);
+  key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(125);
+  key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(130);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(140);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  _parent->SetAnimation(anim);
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_gazebo/src/obstacles.cpp b/src/turtlebot3_gazebo/src/obstacles.cpp
new file mode 100644
index 0000000..2bdfefa
--- /dev/null
+++ b/src/turtlebot3_gazebo/src/obstacles.cpp
@@ -0,0 +1,44 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#include "turtlebot3_gazebo/obstacles.hpp"
+
+namespace gazebo
+{
+void Obstacles::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+{
+  this->model = _parent;
+
+  gazebo::common::PoseAnimationPtr anim(
+    new gazebo::common::PoseAnimation("move", 40.0, true));
+
+  gazebo::common::PoseKeyFrame * key;
+
+  key = anim->CreateKeyFrame(0);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+
+  key = anim->CreateKeyFrame(20);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, PI));
+
+  key = anim->CreateKeyFrame(40);
+  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
+  key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI));
+
+  _parent->SetAnimation(anim);
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_gazebo/src/traffic_bar_plugin.cpp b/src/turtlebot3_gazebo/src/traffic_bar_plugin.cpp
new file mode 100644
index 0000000..725f8e0
--- /dev/null
+++ b/src/turtlebot3_gazebo/src/traffic_bar_plugin.cpp
@@ -0,0 +1,62 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#include "turtlebot3_gazebo/traffic_bar_plugin.hpp"
+
+namespace gazebo
+{
+TrafficBar::TrafficBar()
+: traffic_cycle(10.0),
+  status(0),
+  down_pose(
+    ignition::math::Vector3d(-0.85, 1.26, 0.125),
+    ignition::math::Quaterniond(0.0, 0.0, -1.57)),
+  up_pose(
+    ignition::math::Vector3d(-0.75, 1.11, 0.275),
+    ignition::math::Quaterniond(0.0, -1.57, -1.57))
+{
+}
+void TrafficBar::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  this->model = _model;
+  this->world = _model->GetWorld();
+
+  std::cout << this->model->GetName() << " plugin load success!" << std::endl;
+  this->update_connection = event::Events::ConnectWorldUpdateBegin(
+    std::bind(&TrafficBar::OnUpdate, this));
+
+  this->last_time = this->world->SimTime();
+  this->model->SetGravityMode(false);
+}
+void TrafficBar::OnUpdate()
+{
+  common::Time current_time = this->world->SimTime();
+  if ((current_time - this->last_time).Double() >= this->traffic_cycle) {
+    this->model->SetLinearVel(ignition::math::Vector3d(0, 0, 0));
+    this->model->SetAngularVel(ignition::math::Vector3d(0, 0, 0));
+    this->model->SetStatic(false);
+
+    if (status == 0) {
+      this->model->SetWorldPose(up_pose);
+      status = 1;
+    } else {
+      this->model->SetWorldPose(down_pose);
+      status = 0;
+    }
+    this->last_time = current_time;
+  }
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_gazebo/src/traffic_light_plugin.cpp b/src/turtlebot3_gazebo/src/traffic_light_plugin.cpp
new file mode 100644
index 0000000..1a7f728
--- /dev/null
+++ b/src/turtlebot3_gazebo/src/traffic_light_plugin.cpp
@@ -0,0 +1,65 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#include "turtlebot3_gazebo/traffic_light_plugin.hpp"
+
+namespace gazebo
+{
+TrafficLight::TrafficLight()
+: traffic_cycle(5.0),
+  status(0),
+  textures{"traffic_light_red", "traffic_light_yellow", "traffic_light_green"}
+{
+}
+TrafficLight::~TrafficLight()
+{
+}
+void TrafficLight::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
+{
+  this->model = _model;
+  this->world = _model->GetWorld();
+  this->node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+  this->node->Init();
+  this->visPub = this->node->Advertise<gazebo::msgs::Visual>("/gazebo/default/visual");
+  this->msg.set_name(this->model->GetName() + "::traffic_light");
+  this->msg.set_parent_name(this->model->GetName());
+  std::cout << this->model->GetName() << " plugin load success!" << std::endl;
+  this->update_connection = event::Events::ConnectWorldUpdateBegin(
+    std::bind(&TrafficLight::OnUpdate, this));
+  this->last_time = this->world->SimTime();
+}
+void TrafficLight::OnUpdate()
+{
+  common::Time current_time = this->world->SimTime();
+  if ((current_time - this->last_time).Double() >= this->traffic_cycle) {
+    if (status == 0) {
+      status = 1;
+      traffic_cycle = 1.0;
+    } else if (status == 1) {
+      status = 2;
+      traffic_cycle = 5.0;
+    } else if (status == 2) {
+      status = 0;
+      traffic_cycle = 5.0;
+    }
+
+    msg.mutable_material()->mutable_script()->set_name(textures[status]);
+
+    visPub->Publish(this->msg);
+    this->last_time = current_time;
+  }
+}
+}  // namespace gazebo
diff --git a/src/turtlebot3_gazebo/src/turtlebot3_drive.cpp b/src/turtlebot3_gazebo/src/turtlebot3_drive.cpp
new file mode 100644
index 0000000..2404ca1
--- /dev/null
+++ b/src/turtlebot3_gazebo/src/turtlebot3_drive.cpp
@@ -0,0 +1,174 @@
+// Copyright 2019 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Authors: Taehun Lim (Darby), Ryan Shim
+
+#include "turtlebot3_gazebo/turtlebot3_drive.hpp"
+
+#include <memory>
+
+using namespace std::chrono_literals;
+
+Turtlebot3Drive::Turtlebot3Drive()
+: Node("turtlebot3_drive_node")
+{
+  /************************************************************
+  ** Initialise variables
+  ************************************************************/
+  scan_data_[0] = 0.0;
+  scan_data_[1] = 0.0;
+  scan_data_[2] = 0.0;
+
+  robot_pose_ = 0.0;
+  prev_robot_pose_ = 0.0;
+
+  /************************************************************
+  ** Initialise ROS publishers and subscribers
+  ************************************************************/
+  auto qos = rclcpp::QoS(rclcpp::KeepLast(10));
+
+  // Initialise publishers
+  cmd_vel_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("cmd_vel", qos);
+
+  // Initialise subscribers
+  scan_sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
+    "scan", \
+    rclcpp::SensorDataQoS(), \
+    std::bind(
+      &Turtlebot3Drive::scan_callback, \
+      this, \
+      std::placeholders::_1));
+  odom_sub_ = this->create_subscription<nav_msgs::msg::Odometry>(
+    "odom", qos, std::bind(&Turtlebot3Drive::odom_callback, this, std::placeholders::_1));
+
+  /************************************************************
+  ** Initialise ROS timers
+  ************************************************************/
+  update_timer_ = this->create_wall_timer(10ms, std::bind(&Turtlebot3Drive::update_callback, this));
+
+  RCLCPP_INFO(this->get_logger(), "Turtlebot3 simulation node has been initialised");
+}
+
+Turtlebot3Drive::~Turtlebot3Drive()
+{
+  RCLCPP_INFO(this->get_logger(), "Turtlebot3 simulation node has been terminated");
+}
+
+/********************************************************************************
+** Callback functions for ROS subscribers
+********************************************************************************/
+void Turtlebot3Drive::odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg)
+{
+  tf2::Quaternion q(
+    msg->pose.pose.orientation.x,
+    msg->pose.pose.orientation.y,
+    msg->pose.pose.orientation.z,
+    msg->pose.pose.orientation.w);
+  tf2::Matrix3x3 m(q);
+  double roll, pitch, yaw;
+  m.getRPY(roll, pitch, yaw);
+
+  robot_pose_ = yaw;
+}
+
+void Turtlebot3Drive::scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg)
+{
+  uint16_t scan_angle[3] = {0, 30, 330};
+
+  for (int num = 0; num < 3; num++) {
+    if (std::isinf(msg->ranges.at(scan_angle[num]))) {
+      scan_data_[num] = msg->range_max;
+    } else {
+      scan_data_[num] = msg->ranges.at(scan_angle[num]);
+    }
+  }
+}
+
+void Turtlebot3Drive::update_cmd_vel(double linear, double angular)
+{
+  geometry_msgs::msg::Twist cmd_vel;
+  cmd_vel.linear.x = linear;
+  cmd_vel.angular.z = angular;
+
+  cmd_vel_pub_->publish(cmd_vel);
+}
+
+/********************************************************************************
+** Update functions
+********************************************************************************/
+void Turtlebot3Drive::update_callback()
+{
+  static uint8_t turtlebot3_state_num = 0;
+  double escape_range = 30.0 * DEG2RAD;
+  double check_forward_dist = 0.7;
+  double check_side_dist = 0.6;
+
+  switch (turtlebot3_state_num) {
+    case GET_TB3_DIRECTION:
+      if (scan_data_[CENTER] > check_forward_dist) {
+        if (scan_data_[LEFT] < check_side_dist) {
+          prev_robot_pose_ = robot_pose_;
+          turtlebot3_state_num = TB3_RIGHT_TURN;
+        } else if (scan_data_[RIGHT] < check_side_dist) {
+          prev_robot_pose_ = robot_pose_;
+          turtlebot3_state_num = TB3_LEFT_TURN;
+        } else {
+          turtlebot3_state_num = TB3_DRIVE_FORWARD;
+        }
+      }
+
+      if (scan_data_[CENTER] < check_forward_dist) {
+        prev_robot_pose_ = robot_pose_;
+        turtlebot3_state_num = TB3_RIGHT_TURN;
+      }
+      break;
+
+    case TB3_DRIVE_FORWARD:
+      update_cmd_vel(LINEAR_VELOCITY, 0.0);
+      turtlebot3_state_num = GET_TB3_DIRECTION;
+      break;
+
+    case TB3_RIGHT_TURN:
+      if (fabs(prev_robot_pose_ - robot_pose_) >= escape_range) {
+        turtlebot3_state_num = GET_TB3_DIRECTION;
+      } else {
+        update_cmd_vel(0.0, -1 * ANGULAR_VELOCITY);
+      }
+      break;
+
+    case TB3_LEFT_TURN:
+      if (fabs(prev_robot_pose_ - robot_pose_) >= escape_range) {
+        turtlebot3_state_num = GET_TB3_DIRECTION;
+      } else {
+        update_cmd_vel(0.0, ANGULAR_VELOCITY);
+      }
+      break;
+
+    default:
+      turtlebot3_state_num = GET_TB3_DIRECTION;
+      break;
+  }
+}
+
+/*******************************************************************************
+** Main
+*******************************************************************************/
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Turtlebot3Drive>());
+  rclcpp::shutdown();
+
+  return 0;
+}
diff --git a/src/turtlebot3_gazebo/worlds/empty_world.world b/src/turtlebot3_gazebo/worlds/empty_world.world
new file mode 100644
index 0000000..5d6fe79
--- /dev/null
+++ b/src/turtlebot3_gazebo/worlds/empty_world.world
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world b/src/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
new file mode 100644
index 0000000..4e26397
--- /dev/null
+++ b/src/turtlebot3_gazebo/worlds/turtlebot3_autorace_2020.world
@@ -0,0 +1,1272 @@
+<?xml version="1.0"?>
+<sdf version='1.6'>
+  <world name='default'>
+    <scene>
+      <ambient>0.8 0.8 0.8 1</ambient>
+      <shadows>0</shadows>
+      <grid>0</grid>
+      <background>0.7 0.7 0.7 1</background>
+    </scene>
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/course</uri>
+      <pose> 0 0 0 0 0 -3.14</pose>
+    </include>
+    
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_bar</uri>
+      <pose> -0.8  1.26 0.125 0 0 -1.57</pose>
+    </include>
+    
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_light</uri>
+      <pose> 1.3 -1.95 0.13 0 0 -1.57</pose>
+    </include>
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_parking</uri>
+      <pose> 0.74 1.95 0.13 0 0 -1.57</pose>
+    </include>
+    
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_tunnel</uri>
+      <pose> -1.544 0.00 0.125 0 0 0</pose>
+    </include>
+   
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_stop</uri>
+      <pose> -1.35 1.04 0.125 0 -0 -1.57</pose>
+    </include>    
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_pl_left</uri>
+      <pose>0.50 1.90 0.13 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_construction</uri>
+      <pose> 1.0 0.04 0.125 0 -0 -1.57</pose>
+    </include>   
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_intersection</uri>
+      <pose> 1.95 -1.0 0.125 0 -0 0.0</pose>
+    </include>   
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_noentry</uri>
+      <pose> 0.95 -0.758 0.125 0 -0 0.0</pose>
+    </include>
+
+    <include>
+      <uri>model://turtlebot3_autorace_2020/traffic_right</uri>
+      <pose>1.08 -0.728 0.125 0 -0 -1.57</pose>
+    </include>
+<!--
+    <include>
+      <uri>model://turtlebot3_autorace_2020/checker</uri>
+      <pose> 5.50 -1.750 0.000 0 -0 0.0</pose>
+    </include> -->
+
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.5 -1</direction>
+    </light>
+
+    <model name='ground2'>
+      <pose frame=''>0 0 -0.1 0 -0 0</pose>
+      <static>1</static>
+      <link name='ground'>
+        <collision name='ground_coll'>
+          <geometry>
+            <box>
+              <size>8 8 0.01</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='ground_vis'>
+          <geometry>
+            <box>
+              <size>10 10 0.01</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/FlatBlack</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+    </model>
+
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics name='default_physics' default='0' type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates> 
+ 
+    <light name='user_point_light_1' type='point'>
+      <pose frame=''>-1.648146 0.604519 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>    
+    <light name='user_point_light_2' type='point'>
+      <pose frame=''>1.63854 1.69565 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_3' type='point'>
+      <pose frame=''>0.42  -3.31 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+
+    <state world_name='default'>
+      <sim_time>116 345000000</sim_time>
+      <real_time>32 693566475</real_time>
+      <wall_time>1525097329 747995208</wall_time>
+      <iterations>32558</iterations>
+      <model name='ground'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='ground'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      
+      <model name='tunnel_obstacle'>
+        <pose frame=''>-1.04145 -1.12671 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='obstacle_1'>
+          <pose frame=''>-0.61823 -1.33874 0.125 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='obstacle_2'>
+          <pose frame=''>-1.36518 -1.41427 0.125 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='obstacle_3'>
+          <pose frame=''>-1.14094 -0.627116 0.125 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+
+      <model name='tunnel_wall'>
+        <pose frame=''>-0.964699 -1.03574 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='Wall_1'>
+          <pose frame=''>-1.91548 -1.005857 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_2'>
+          <pose frame=''>-0.994699 -1.92118 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_3'>
+          <pose frame=''>-0.021303 -0.832071 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_4'>
+          <pose frame=''>-0.814699 -0.03074 0 0 -0 3.14159</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+
+      <model name='unit_box'>
+        <pose frame=''>-1.72  0.56 0.12 0 0 -0.0 </pose>
+        <scale>1 1 1</scale>
+        <link name='traffic_bar'>
+          <pose frame=''>-1.72  0.56 0.12 0 0 -0.0 </pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>1.06648 0.03546 4.20605 2.1745 -1.41657 3.10996</acceleration>
+          <wrench>1.06648 0.03546 4.20605 0 -0 0</wrench>
+        </link>
+	      <static>1</static>
+      </model>
+
+      <model name='barrier_1'>
+        <pose frame=''>1.49 0.54 0.15 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>1.49 0.54 0.15 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='barrier_2'>
+        <pose frame=''>1.74 1 0.15 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>1.74 1 0.15 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='barrier_3'>
+        <pose frame=''>1.49 1.464 0.15 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose frame=''>1.49 1.464 0.15 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+
+
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>      
+      <light name='user_point_light_1'>
+        <pose frame=''>-1.648146 0.604519 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_2'>
+        <pose frame=''>1.63854 1.69565 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_3'>
+        <pose frame=''>0.42  -3.31 1 0 -0 0</pose>
+      </light>
+    </state>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>2.7696 -1.93094 6.71513 0 1.1618 2.27182</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <model name='tunnel_wall'>
+      <link name='Wall_1'>
+        <pose frame=''>-0.980783 0.049883 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_1_Visual'>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8 0.05 0.25</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_1_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8 0.05 0.25</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_2'>
+        <pose frame=''>0 -0.935438 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_2_Visual'>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8 0.05 0.25</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_2_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8 0.05 0.25</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_3'>
+        <pose frame=''>0.943396 0.183669 0 0 -0 1.5708</pose>
+        <inertial>
+          <inertia>
+            <ixx>nan</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>nan</iyy>
+            <iyz>0</iyz>
+            <izz>nan</izz>
+          </inertia>
+          <mass>0</mass>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_3_Visual'>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.53699 0.05 0.25</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_3_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.53699 0.05 0.25</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <gravity>1</gravity>
+      </link>
+      <link name='Wall_4'>
+        <pose frame=''>0.15 0.915 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_4_Visual'>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.58 0.05 0.25</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_4_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0.125 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.58 0.05 0.25</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <gravity>1</gravity>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>-0.964699 -1.03574 0 0 -0 0</pose>
+    </model>
+
+    <model name='tunnel_obstacle'>
+      <link name='obstacle_1'>
+        <pose frame=''>0.42322 -0.212034 0.0 0 -0 0</pose>
+        <inertial>
+          <mass>0.0416663</mass>
+          <inertia>
+            <ixx>0.00098188</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.00098188</iyy>
+            <iyz>0</iyz>
+            <izz>0.00046751</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.46418</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <link name='obstacle_2'>
+        <pose frame=''>-0.323729 -0.287563 0.0 0 -0 0</pose>
+        <inertial>
+          <mass>0.0416663</mass>
+          <inertia>
+            <ixx>0.00098188</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.00098188</iyy>
+            <iyz>0</iyz>
+            <izz>0.00046751</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.46418</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <link name='obstacle_3'>
+        <pose frame=''>-0.099492 0.499594 0.0 0 -0 0</pose>
+        <inertial>
+          <mass>0.0416663</mass>
+          <inertia>
+            <ixx>0.00098188</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.00098188</iyy>
+            <iyz>0</iyz>
+            <izz>0.00046751</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <lighting>1</lighting>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.46418</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>-1.04145 -1.12671 0 0 -0 0</pose>
+    </model>
+
+    <model name='barrier_1'>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>1.61222 1.02778 0.5 0 -0 0</pose>
+    </model>
+
+    <model name='barrier_2'>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>1.74483 0.998451 0.15 0 -0 0</pose>
+    </model>
+
+    <model name='barrier_3'>
+      <link name='link'>
+        <inertial>
+          <mass>1</mass>
+          <inertia>
+            <ixx>0.166667</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.166667</iyy>
+            <iyz>0</iyz>
+            <izz>0.166667</izz>
+          </inertia>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+        </inertial>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <gravity>1</gravity>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Grey</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.1 0.3</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>0</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose frame=''>1.49021 1.46167 0.15 0 -0 0</pose>
+    </model>
+  </world>
+</sdf>
diff --git a/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world b/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
new file mode 100644
index 0000000..b622560
--- /dev/null
+++ b/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+    
+    <model name="turtlebot3_dqn_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_dqn_world</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world b/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
new file mode 100644
index 0000000..8efeee7
--- /dev/null
+++ b/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_dqn_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_dqn_world</uri>
+      </include>
+    </model>
+
+    <include>
+      <uri>model://turtlebot3_dqn_world/obstacles</uri>
+    </include>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world b/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
new file mode 100644
index 0000000..d8d7dc1
--- /dev/null
+++ b/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_dqn_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_dqn_world</uri>
+      </include>
+    </model>
+
+    <model name="turtlebot3_dqn_obstacles">
+      <plugin name="obstacles" filename="libobstacles.so"/>
+      <allow_auto_disable>1</allow_auto_disable>
+      <include>
+        <uri>model://turtlebot3_dqn_world/obstacles</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world b/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
new file mode 100644
index 0000000..b0174dc
--- /dev/null
+++ b/src/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
@@ -0,0 +1,75 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_dqn_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_dqn_world</uri>
+      </include>
+    </model>
+
+    <include>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>model://turtlebot3_dqn_world/inner_walls</uri>
+    </include>
+
+    <model name="turtlebot3_dqn_obstacle1">
+      <plugin name="obstacle1" filename="libobstacle1.so"/>
+      <include>
+        <pose>2 2 0 0 0 0</pose>
+        <uri>model://turtlebot3_dqn_world/obstacle1</uri>
+      </include>
+    </model>
+     
+    <model name="turtlebot3_dqn_obstacle2">
+      <plugin name="obstacle2" filename="libobstacle2.so"/>
+      <include>
+        <pose>-2 -2 0 0 0 0</pose>
+        <uri>model://turtlebot3_dqn_world/obstacle2</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_gazebo/worlds/turtlebot3_house.world b/src/turtlebot3_gazebo/worlds/turtlebot3_house.world
new file mode 100644
index 0000000..c8aabbd
--- /dev/null
+++ b/src/turtlebot3_gazebo/worlds/turtlebot3_house.world
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_house">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_house</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>
diff --git a/src/turtlebot3_gazebo/worlds/turtlebot3_world.world b/src/turtlebot3_gazebo/worlds/turtlebot3_world.world
new file mode 100644
index 0000000..d71276e
--- /dev/null
+++ b/src/turtlebot3_gazebo/worlds/turtlebot3_world.world
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="default">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="turtlebot3_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_world</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>