diff --git a/src/nav2_turtlebot_simulator/launch/simulator.launch.py b/src/nav2_turtlebot_simulator/launch/simulator.launch.py
index 05d5187..c11b437 100644
--- a/src/nav2_turtlebot_simulator/launch/simulator.launch.py
+++ b/src/nav2_turtlebot_simulator/launch/simulator.launch.py
@@ -399,8 +399,15 @@ def launch_gazebo(context):
                 ],
             ),
         ]
+    elif platform == 'yahboom':
+        entity_name = 'yahboom_gazebo'
+        model_directory = '/usr/share/gazebo-11/models'
+        static_transforms = []
     else:
-        raise RuntimeError('platform must be turtlebot3 or mkmini')
+        raise RuntimeError('platform must be turtlebot3, mkmini or yahboom')
+
+    model_arguments = (['-topic', '/yahboom/robot_description', '-timeout', '120']
+                       if platform == 'yahboom' else ['-file', model_path])
 
     existing_model_path = os.environ.get('GAZEBO_MODEL_PATH', '')
     return [
@@ -420,7 +427,7 @@ def launch_gazebo(context):
             executable='spawn_entity.py',
             arguments=[
                 '-entity', entity_name,
-                '-file', model_path,
+                *model_arguments,
                 '-x', spawn_x,
                 '-y', spawn_y,
                 '-z', '0.01',