diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index 79af8fcf0..3bff9c1dd 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -85,6 +85,7 @@ install(
     f1/models
     f1/launch
     f1/worlds
+    f1/params
     # ROOMBA
     roomba_robot/models
     roomba_robot/worlds
diff --git a/CustomRobots/ackermann_cars/models/big_montreal_line/meshes/montreal_pared.dae b/CustomRobots/ackermann_cars/models/big_montreal_line/meshes/montreal_pared.dae
index 6bd60036e..ad61642e1 100755
--- a/CustomRobots/ackermann_cars/models/big_montreal_line/meshes/montreal_pared.dae
+++ b/CustomRobots/ackermann_cars/models/big_montreal_line/meshes/montreal_pared.dae
@@ -1163,7 +1163,7 @@
     </library_effects>
     <library_images>
         <image id="ID11">
-            <init_from>pared/Piste_gris_clair.jpg</init_from>
+            <init_from>montreal/Piste_gris_clair.jpg</init_from>
         </image>
     </library_images>
     <scene>
diff --git a/CustomRobots/f1/models/f1_renault_ackermann_harmonic_laser/model.sdf b/CustomRobots/f1/models/f1_renault_ackermann_harmonic_laser/model.sdf
index e442208d1..a150a9937 100644
--- a/CustomRobots/f1/models/f1_renault_ackermann_harmonic_laser/model.sdf
+++ b/CustomRobots/f1/models/f1_renault_ackermann_harmonic_laser/model.sdf
@@ -26,7 +26,7 @@
 
     <link name='chassis_link'>
       <inertial>
-        <pose>1e-06 0.07307 0.65096 0 -0 0</pose>
+        <pose>0.0000002 0.014614 0.130192 0 -0 0</pose>
         <mass>1580</mass>
         <inertia>
           <ixx>1997.86</ixx>
@@ -38,10 +38,10 @@
         </inertia>
       </inertial>
       <collision name='chassis_link_fixed_joint_lump__chassis_link_collision'>
-        <pose>0 1.51 0 0 -0 1.5708</pose>
+        <pose>0 0.302 0 0 -0 1.5708</pose>
         <geometry>
           <mesh>
-            <scale>5 5 5</scale>
+            <scale>1.0 1.0 1.0</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/chasis.dae</uri>
           </mesh>
         </geometry>
@@ -59,10 +59,10 @@
       </collision>
       <visual name='chassis_link_fixed_joint_lump__chassis_link_visual'>
         <!-- <pose>0 1.51 0 0 -0 1.5708</pose> -->
-        <pose>0 1.51 0 1.5708 -0 1.5708</pose>
+        <pose>0 0.302 0 1.5708 -0 1.5708</pose>
         <geometry>
           <mesh>
-            <scale>5 5 5</scale>
+            <scale>1.0 1.0 1.0</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/chasis.obj</uri>
           </mesh>
         </geometry>
@@ -72,7 +72,7 @@
 
     <!-- Back Left Wheel -->
     <joint name='bl_axle' type='revolute'>
-      <pose relative_to='chassis_link'>-0.775 -1.83364 0.324997 0 -0 0</pose>
+      <pose relative_to='chassis_link'>-0.155 -0.366728 0.0649994 0 -0 0</pose>
       <parent>chassis_link</parent>
       <child>bl_1</child>
       <axis>
@@ -101,12 +101,12 @@
         </inertia>
       </inertial>
       <collision name='bl_1_collision'>
-        <pose relative_to='bl_axle'>0 0 0 0 1.5708 0</pose>
+        <pose>0.175 0.20252 0.028 0 -0 0</pose>
         <geometry>
-          <cylinder>
-            <radius>.3425</radius>
-            <length>.22</length>
-          </cylinder>
+          <mesh>
+            <scale>0.0002 0.0002 0.0002</scale>
+            <uri>model://f1_renault_ackermann_harmonic_laser/Renault/bl_1.stl</uri>
+          </mesh>
         </geometry>
         <surface>
           <contact>
@@ -122,10 +122,10 @@
       </collision>
       <visual name='bl_1_visual'>
         <!-- <pose>0.875 1.0136 0.1444 0 -0 0</pose> -->
-        <pose>0.875 0.14 -1.0126 0 -0 0</pose>
+        <pose>0.175 0.028 -0.20252 0 -0 0</pose>
         <geometry>
           <mesh>
-            <scale>0.1 0.1 0.1</scale>
+            <scale>0.02 0.02 0.02</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/back_left.obj</uri>
           </mesh>
         </geometry>
@@ -135,7 +135,7 @@
 
     <!-- Back Right Wheel -->
     <joint name='br_axle' type='revolute'>
-      <pose relative_to='chassis_link'>0.775 -1.83364 0.324997 0 -0 0</pose>
+      <pose relative_to='chassis_link'>0.155 -0.366728 0.0649994 0 -0 0</pose>
       <parent>chassis_link</parent>
       <child>br_1</child>
       <axis>
@@ -164,12 +164,12 @@
         </inertia>
       </inertial>
       <collision name='br_1_collision'>
-        <pose relative_to='br_axle'>0 0 0 0 1.5708 0</pose>
+        <pose>-0.175 0.20252 0.028 0 0 0</pose>
         <geometry>
-          <cylinder>
-            <radius>.3425</radius>
-            <length>.22</length>
-          </cylinder>
+          <mesh>
+            <scale>0.0002 0.0002 0.0002</scale>
+            <uri>model://f1_renault_ackermann_harmonic_laser/Renault/br_1.stl</uri>
+          </mesh>
         </geometry>
         <surface>
           <contact>
@@ -185,10 +185,10 @@
       </collision>
       <visual name='br_1_visual'>
         <!-- <pose>-0.875 1.0136 0.1444 0 -0 0</pose> -->
-        <pose>-0.875 0.14 -1.0126 0 -0 0</pose>
+        <pose>-0.175 0.028 -0.20252 0 -0 0</pose>
         <geometry>
           <mesh>
-            <scale>0.1 0.1 0.1</scale>
+            <scale>0.02 0.02 0.02</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/back_right.obj</uri>
           </mesh>
         </geometry>
@@ -199,7 +199,7 @@
 
     <!-- Steering Wheel -->
     <joint name="steering_joint" type="revolute">
-      <pose relative_to='chassis_link'>-0.01 0.6 0.6 0 0 0</pose>
+      <pose relative_to='chassis_link'>-0.002 0.12 0.12 0 0 0</pose>
       <parent>chassis_link</parent>
       <child>steering_wheel</child>
       <axis>
@@ -222,7 +222,7 @@
       </physics>
     </joint>
     <link name='steering_wheel'>
-      <pose relative_to='steering_joint'>0 0.87 -0.54 0 0 1.5708</pose>
+      <pose relative_to='steering_joint'>0 0.174 -0.108 0 0 1.5708</pose>
       <inertial>
         <mass>0.5</mass>
         <inertia>
@@ -238,7 +238,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <scale>4.7 4.7 4.7</scale>
+            <scale>0.94 0.94 0.94</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/steering_wheel.dae</uri>
           </mesh>
         </geometry>
@@ -282,7 +282,7 @@
 
     <!-- Single Steering Joint for both front wheels -->
     <joint name='front_steering' type='revolute'>
-      <pose relative_to='chassis_link'>0 1.51736 0.324997 0 -0 0</pose>
+      <pose relative_to='chassis_link'>0 0.303472 0.0649994 0 -0 0</pose>
       <parent>chassis_link</parent>
       <child>front_steering_link</child>
       <axis>
@@ -318,7 +318,7 @@
 
     <!-- Front Left Wheel -->
     <joint name='fl_axle' type='revolute'>
-      <pose relative_to='front_steering_link'>-0.825 0 0 0 -0 0</pose>
+      <pose relative_to='front_steering_link'>-0.165 0 0 0 -0 0</pose>
       <parent>front_steering_link</parent>
       <child>fl_1</child>
       <axis>
@@ -347,10 +347,10 @@
         </inertia>
       </inertial>
       <collision name='fl_1_collision'>
-        <pose>0.875 -1.5174 0.1444 0 -0 0</pose>
+        <pose>0.175 -0.30348 0.02888 0 -0 0</pose>
         <geometry>
           <mesh>
-            <scale>0.001 0.001 0.001</scale>
+            <scale>0.0002 0.0002 0.0002</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/fl_1.stl</uri>
           </mesh>
         </geometry>
@@ -368,10 +368,10 @@
       </collision>
       <visual name='fl_1_visual'>
         <!-- <pose>0.875 -1.5174 0.1444 0 -0 0</pose> -->
-        <pose>0.875 0.1444 1.5174 0 -0 0</pose>
+        <pose>0.175 0.02888 0.30348 0 -0 0</pose>
         <geometry>
           <mesh>
-            <scale>0.1 0.1 0.1</scale>
+            <scale>0.02 0.02 0.02</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/front_left.obj</uri>
           </mesh>
         </geometry>
@@ -415,7 +415,7 @@
 
     <!-- Front Right Wheel -->
     <joint name='fr_axle' type='revolute'>
-      <pose relative_to='front_steering_link'>0.825 0 0 0 -0 0</pose>
+      <pose relative_to='front_steering_link'>0.165 0 0 0 -0 0</pose>
       <parent>front_steering_link</parent>
       <child>fr_1</child>
       <axis>
@@ -432,7 +432,7 @@
     <link name='fr_1'>
       <pose relative_to='fr_axle'>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose>-0.0377 0 -0 0 -0 0</pose>
+        <pose>-0.00754 0 -0 0 -0 0</pose>
         <mass>24.5</mass>
         <inertia>
           <ixx>1.84514</ixx>
@@ -444,10 +444,10 @@
         </inertia>
       </inertial>
       <collision name='fr_1_collision'>
-        <pose>-0.875 -1.5174 0.1444 0 -0 0</pose>
+        <pose>-0.175 -0.30348 0.02888 0 -0 0</pose>
         <geometry>
           <mesh>
-            <scale>0.001 0.001 0.001</scale>
+            <scale>0.0002 0.0002 0.0002</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/fr_1.stl</uri>
           </mesh>
         </geometry>
@@ -465,18 +465,65 @@
       </collision>
       <visual name='fr_1_visual'>
         <!-- <pose>-0.875 -1.5174 0.1444 0 -0 0</pose> -->
-        <pose>-0.875 0.1444 1.5174 0 -0 0</pose>
+        <pose>-0.175 0.02888 0.30348 0 -0 0</pose>
         <geometry>
           <mesh>
-            <scale>0.1 0.1 0.1</scale>
+            <scale>0.02 0.02 0.02</scale>
             <uri>model://f1_renault_ackermann_harmonic_laser/Renault/front_right.obj</uri>
           </mesh>
         </geometry>
       </visual>
     </link>
     
-    <link name='laser_body'>
-      <pose relative_to='chassis_link'>0.00000 1.700000 0.7000 0.000000 0.000000 1.57000</pose>
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_frame">
+      <inertial>
+        <pose>0.0138 -0.0094 0.0214 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>0.0138 -0.0094 0.0214 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <topic>/cam_f1_left/image_raw</topic>
+        <gz_frame_id>camera_rgb_frame</gz_frame_id>
+        <camera name="intel_realsense_r200">
+          <camera_info_topic>/cam_f1_left/camera_info</camera_info_topic>
+          <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> 
+      </sensor>
+    </link>
+
+    <!-- <link name='laser_body'>
+      <pose relative_to='chassis_link'>0.00000 0.34000 0.14000 0.000000 0.000000 1.57000</pose>
       <inertial>
         <mass>0.1</mass>
         <inertia>
@@ -523,16 +570,34 @@
         <topic>/model/f1_renault_ackermann_harmonic_laser/laser/scan</topic>
       </sensor>
       <self_collide>false</self_collide>
-    </link>
+    </link> -->
     
-    <joint type="fixed" name="laser_fix">
+    <joint name="camera_joint" type="fixed">
+      <parent>chassis_link</parent>
+      <child>camera_link</child>
+      <pose>0.0128 -0.013 0.0188 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>0.001 0.0036 0.0026 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <!-- <joint type="fixed" name="laser_fix">
       <pose>0 0 0 0 0 0</pose>
       <child>laser_body</child>
       <parent>chassis_link</parent>
       <axis>
         <xyz>0 0 1</xyz>
       </axis>
-    </joint>
+    </joint> -->
 
     <!-- Gazebo Harmonic Plugins -->
     
diff --git a/CustomRobots/f1/models/f1_renault_laser_no_cam/model.sdf b/CustomRobots/f1/models/f1_renault_laser_no_cam/model.sdf
index 4c37da228..d7bbcf21b 100755
--- a/CustomRobots/f1/models/f1_renault_laser_no_cam/model.sdf
+++ b/CustomRobots/f1/models/f1_renault_laser_no_cam/model.sdf
@@ -1,11 +1,12 @@
 <?xml version='1.0'?>
-<sdf version="1.4">
+<sdf version="1.9">
 <model name="f1_renault">
-  <pose>0 0 0 0 0 0</pose>
+  <pose>0 0 0 0 0 0</pose> 
   <static>false</static>
+
     <link name="f1">
       <pose>0 0 0 0 0 0</pose>
-  <inertial>
+      <inertial>
         <mass>10</mass>
         <inertia>
           <ixx>1</ixx>
@@ -14,86 +15,153 @@
           <ixz>0.0</ixz>
           <iyz>0.0</iyz>
           <izz>1.0</izz>
-      </inertia>
-    </inertial>
-    <collision name="collision">
+        </inertia>
+      </inertial>
+      <collision name="collision">
         <geometry>
-            <mesh>
-                 <uri>model://f1_renault_laser_no_cam/Renault/Car.obj</uri>
-                 <scale>0.2 0.2 0.2</scale>
-            </mesh>
+          <mesh>
+            <uri>model://f1_renault_laser_no_cam/Renault/Car.obj</uri>
+            <scale>0.2 0.2 0.2</scale>
+          </mesh>
         </geometry>
-    </collision>
-    <visual name="visual">
+      </collision>
+      <visual name="visual">
         <geometry>
           <mesh>
             <uri>model://f1_renault_laser_no_cam/Renault/Car.obj</uri>
             <scale>0.2 0.2 0.2</scale>
-        </mesh>
-      </geometry>
-    </visual>
-  </link>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
 
-  <link name='laser_body'>
-  <pose>0.500000 0.000000 0.072000 0.000000 0.000000 0.00000</pose>
-  <visual name="visual_laser">
-      <geometry>
-        <mesh>
-          <uri>model://f1_renault_laser_no_cam/meshes/hokuyo.dae</uri>
-        </mesh>
-      </geometry>
-    </visual>
-    <sensor name='laser' type='ray'>
-      <ray>
-        <scan>
-          <horizontal>
-            <samples>180</samples>
-            <resolution>1.000000</resolution>
-            <min_angle>-1.570000</min_angle>
-            <max_angle>1.570000</max_angle>
-          </horizontal>
-        </scan>
-        <range>
-          <min>0.080000</min>
-          <max>10.000000</max>
-          <resolution>0.010000</resolution>
-        </range>
-      </ray>
-      <update_rate>20.000000</update_rate>
-      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_ray_sensor.so">
-          <ros>
-              <namespace>/f1</namespace>
-              <remapping>~/out:=laser/scan</remapping>
-          </ros>
-          <output_type>sensor_msgs/LaserScan</output_type>
-          <frame_name>base_scan</frame_name>
-      </plugin>
-      <always_on>1</always_on>
-      <visualize>1</visualize>
-    </sensor>
-    <velocity_decay>
+    <!-- <link name='laser_body'>
+      <pose>0.500000 0.000000 0.072000 0.000000 0.000000 0.00000</pose>
+      <visual name="visual_laser">
+        <geometry>
+          <mesh>
+            <uri>model://f1_renault_laser_no_cam/meshes/hokuyo.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="laser" type="gpu_lidar">
+        <always_on>1</always_on>
+        <visualize>1</visualize>
+        <update_rate>20.000000</update_rate>
+        <topic>f1/laser/scan</topic>
+        <frame>base_scan</frame>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>180</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>-1.570000</min_angle>
+              <max_angle>1.570000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.080000</min>
+            <max>10.000000</max>
+            <resolution>0.010000</resolution>
+          </range>
+        </lidar>
+      </sensor>
+    </link> -->
+
+    <!-- <velocity_decay>
       <linear>0.000000</linear>
       <angular>0.000000</angular>
     </velocity_decay>
     <self_collide>0</self_collide>
     <kinematic>0</kinematic>
-  </link>
+  </link> -->
   
-  <joint type="fixed" name="laser_fix">
+    <!-- <joint type="fixed" name="laser_fix">
       <pose>0 0 0 0 0 0</pose>
       <child>laser_body</child>
       <parent>f1</parent>
       <axis>
         <xyz>0 0 0</xyz>
-    </axis>
-  </joint>
+      </axis>
+    </joint> -->
+
+    <link name="camera_link"/>
+
+    <link name="camera_rgb_frame">
+      <inertial>
+        <pose>0.0138 -0.0094 0.0214 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>0.0138 -0.0094 0.0214 0 0 0</pose>
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <topic>/cam_f1_left/image_raw</topic>
+        <gz_frame_id>camera_rgb_frame</gz_frame_id>
+        <camera name="intel_realsense_r200">
+          <camera_info_topic>/cam_f1_left/camera_info</camera_info_topic>
+          <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> 
+      </sensor>
+    </link>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>f1</parent>
+      <child>camera_link</child>
+      <pose>0.0128 -0.013 0.0188 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>0.001 0.0036 0.0026 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
+      <topic>/F1ROS/cmd_vel</topic>
+    </plugin>
+
+    <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>odom</odom_frame>
+      <robot_base_frame>xf1</robot_base_frame>
+      <odom_publish_frequency>20.0</odom_publish_frequency>
+      <odom_topic>F1ROS/odom</odom_topic>
+      <dimensions>3</dimensions>
+    </plugin>
 
-  <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
-      <commandTopic>F1ROS/cmd_vel</commandTopic>
-      <odometryTopic>F1ROS/odom</odometryTopic>
-      <odometryFrame>odom</odometryFrame>
-      <odometryRate>20.0</odometryRate>
-      <robotBaseFrame>xf1</robotBaseFrame>
-  </plugin>
 </model>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/CustomRobots/f1/models/montmelo_line/meshes/pared.stl b/CustomRobots/f1/models/montmelo_line/meshes/pared.stl
new file mode 100644
index 000000000..99baf2b0d
Binary files /dev/null and b/CustomRobots/f1/models/montmelo_line/meshes/pared.stl differ
diff --git a/CustomRobots/f1/models/montmelo_line/model.sdf b/CustomRobots/f1/models/montmelo_line/model.sdf
index cefe4a409..75ba6611b 100755
--- a/CustomRobots/f1/models/montmelo_line/model.sdf
+++ b/CustomRobots/f1/models/montmelo_line/model.sdf
@@ -23,14 +23,14 @@
     <collision name="collision">
       <geometry>
         <mesh>
-          <uri>model://montmelo_line/meshes/montmelo_pared.dae</uri>
+          <uri>model://montmelo_line/meshes/pared.stl</uri>
         </mesh>
       </geometry>
     </collision>
     <visual name="visual">
       <geometry>
         <mesh>
-          <uri>model://montmelo_line/meshes/montmelo_pared.dae</uri>
+          <uri>model://montmelo_line/meshes/pared.stl</uri>
         </mesh>
       </geometry>
     </visual>
diff --git a/CustomRobots/f1/models/montreal_line/meshes/montreal_pared.dae b/CustomRobots/f1/models/montreal_line/meshes/montreal_pared.dae
index 6bd60036e..ad61642e1 100755
--- a/CustomRobots/f1/models/montreal_line/meshes/montreal_pared.dae
+++ b/CustomRobots/f1/models/montreal_line/meshes/montreal_pared.dae
@@ -1163,7 +1163,7 @@
     </library_effects>
     <library_images>
         <image id="ID11">
-            <init_from>pared/Piste_gris_clair.jpg</init_from>
+            <init_from>montreal/Piste_gris_clair.jpg</init_from>
         </image>
     </library_images>
     <scene>
diff --git a/CustomRobots/f1/models/montreal_line/meshes/pared.stl b/CustomRobots/f1/models/montreal_line/meshes/pared.stl
new file mode 100644
index 000000000..17bff2d6e
Binary files /dev/null and b/CustomRobots/f1/models/montreal_line/meshes/pared.stl differ
diff --git a/CustomRobots/f1/models/montreal_line/model.sdf b/CustomRobots/f1/models/montreal_line/model.sdf
index ba085d284..ff7a3eba9 100755
--- a/CustomRobots/f1/models/montreal_line/model.sdf
+++ b/CustomRobots/f1/models/montreal_line/model.sdf
@@ -23,14 +23,14 @@
     <collision name="collision">
       <geometry>
         <mesh>
-          <uri>model://montreal_line/meshes/montreal_pared.dae</uri>
+          <uri>model://montreal_line/meshes/pared.stl</uri>
         </mesh>
       </geometry>
     </collision>
     <visual name="visual">
       <geometry>
         <mesh>
-          <uri>model://montreal_line/meshes/montreal_pared.dae</uri>
+          <uri>model://montreal_line/meshes/pared.stl</uri>
         </mesh>
       </geometry>
     </visual>
diff --git a/CustomRobots/f1/models/nurburgring_line/meshes/Nurburgrin_Pared.dae b/CustomRobots/f1/models/nurburgring_line/meshes/Nurburgrin_Pared.dae
old mode 100755
new mode 100644
index e3c1a773e..ecc28f7f5
--- a/CustomRobots/f1/models/nurburgring_line/meshes/Nurburgrin_Pared.dae
+++ b/CustomRobots/f1/models/nurburgring_line/meshes/Nurburgrin_Pared.dae
@@ -1,513 +1,150 @@
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10094 115566 16883 115567 16883 115568 16882 115569 3778 115570 3778 115571 16882 115572 310 115573 310 115574 16882 115575 3779 115576 3779 115577 10094 115578 10096 115579 10096 115580 10094 115581 16884 115582 10093 115583 10090 115584 11275 113352 11275 115585 11277 115586 16881 115587 16881 115588 16878 115589 18062 115590 18062 115591 11277 113352 10090 115592 16881 115593 3778 115594 18062 115595 18062 115596 3778 115597 16883 115598 16883 115599 3778 115600 3774 115601 3779 115602 3778 115603 310 115604 306 115605 310 115606 3779 115607 3779 115608 310 115609 309 115610 3774 115611 3779 115612 306 115613 306 115614 3779 115615 3775 115616 3775 115617 3779 115618 10096 115619 10096 115620 3779 115621 309 115622 10095 115623 10096 115624 16883 115625 16883 115626 16884 115627 3774 115628 3774 115629 16884 115630 306 115631 306 115632 16884 115633 3775 115634 3775 115635 10096 115636 10097 115637 10097 115638 10096 115639 16885 115640 16885 115641 16884 115642 10096 115643 11272 115644 11274 115645 18061 115646 18061 115647 11274 115648 11273 115649 11275 115650 11274 115651 18063 115652 18060 115653 18063 115654 11275 115655 11275 115656 18063 115657 18062 115658 10095 115659 10093 115660 11273 113352 11273 115661 11275 115662 16883 115663 16883 115664 16881 115665 18060 115666 18060 115667 11275 115668 18062 115669 10095 115670 18062 115671 16883 115672 16883 115673 18062 115674 18060 115675 16883 115676 3774 115677 3770 115678 3775 115679 3774 115680 306 115681 302 115682 306 115683 3775 115684 3775 115685 306 115686 305 115687 3770 115688 3775 115689 302 115690 302 115691 3775 115692 3771 115693 3771 115694 3775 115695 10097 115696 10097 115697 3775 115698 305 115699 10095 115700 10097 115701 16883 115702 16883 115703 16885 115704 18060 115705 18060 115706 16885 115707 10098 115708 10098 115709 10097 115710 16886 115711 3770 115712 3766 115713 16885 115714 3770 115715 16885 115716 302 115717 302 115718 16885 115719 3771 115720 3771 115721 10097 115722 10099 115723 10099 115724 10097 115725 16887 115726 11270 115727 11272 115728 18059 115729 18059 115730 11272 115731 11271 115732 11273 115733 11272 115734 18061 115735 18058 115736 18061 115737 11273 115738 11273 115739 18061 115740 18060 115741 10098 115742 10095 115743 11271 113352 11271 115744 11273 115745 16886 115746 16886 115747 16883 115748 18058 115749 18058 115750 11273 115751 16883 115752 10098 115753 18060 115754 18058 53247 3762 115755 16888 115756 16887 115757 3771 115758 3770 115759 302 115760 298 115761 302 115762 3771 115763 3771 115764 302 115765 301 115766 3766 115767 3771 115768 298 115769 298 115770 3771 115771 3767 115772 3767 115773 3771 115774 10099 115775 10099 115776 3771 115777 301 115778 10098 115779 10099 115780 16886 115781 16886 115782 16887 115783 18058 115784 18058 115785 16887 115786 10100 115787 10100 115788 10099 115789 16888 115790 3766 115791 3762 115792 16887 115793 3766 115794 16887 115795 298 115796 298 115797 16887 115798 3767 115799 3767 115800 10099 115801 10101 115802 10101 115803 10099 115804 16889 115805 16889 115806 16887 115807 10099 115808 11268 115809 11270 115810 18057 115811 18057 115812 11270 115813 11269 115814 11271 115815 11270 115816 18059 115817 18056 115818 18059 115819 11271 115820 11271 115821 18059 115822 18058 115823 10100 115824 10098 115825 11269 113352 11269 115826 11271 115827 16888 115828 16888 115829 16886 115830 18056 115831 18056 115832 11271 113352 10098 115833 10100 115834 18058 115835 18056 51960 4359 115836 14019 115837 18342 115838 3767 115839 3766 115840 298 115841 294 115842 298 115843 3767 115844 3767 115845 298 115846 297 115847 3762 115848 3767 115849 294 115850 294 115851 3767 115852 3763 115853 3763 115854 3767 115855 10101 115856 10101 115857 3767 115858 297 115859 10100 115860 10101 115861 16888 115862 16888 115863 16889 115864 18056 115865 18056 115866 16889 115867 10102 115868 10102 115869 10101 115870 16890 115871 3762 115872 3758 115873 16889 115874 3762 115875 16889 115876 294 115877 294 115878 16889 115879 3763 115880 3763 115881 10101 115882 10103 115883 10103 115884 10101 115885 16891 115886 11266 115887 11268 115888 18055 115889 18055 115890 11268 115891 11267 115892 11269 115893 11268 115894 18057 115895 18054 115896 18057 115897 11269 115898 11269 115899 18057 115900 18056 115901 11267 115902 11269 115903 10102 113352 10102 115904 10100 115905 16890 115906 16890 115907 16888 115908 18054 115909 18054 115910 11269 115911 16888 115912 10102 115913 18056 115914 18054 52182 3766 115915 16886 115916 16885 115917 3763 115918 3762 115919 294 115920 290 115921 294 115922 3763 115923 3763 115924 294 115925 10103 115926 10103 115927 294 115928 293 115929 3758 115930 3763 115931 290 115932 290 115933 3763 115934 3759 115935 3759 115936 3763 115937 293 115938 293 115939 3763 115940 10103 115941 10102 115942 10103 115943 16890 115944 16890 115945 16891 115946 18054 115947 18054 115948 16891 115949 10104 115950 10104 115951 10103 115952 16892 115953 3758 115954 3754 115955 16891 115956 3758 115957 16891 115958 290 115959 290 115960 16891 115961 10105 115962 10105 115963 10103 115964 16893 115965 16893 115966 16891 115967 10103 115968 290 115969 293 115970 3759 115971 3759 115972 293 115973 10105 115974 10105 115975 293 115976 289 115977 11264 115978 11266 115979 18053 115980 18053 115981 11266 115982 11265 115983 11267 115984 11266 115985 18055 115986 18052 115987 18055 115988 11267 115989 11267 115990 18055 115991 18054 115992 10104 115993 10102 115994 11265 113352 11265 115995 11267 115996 16892 115997 16892 115998 16890 115999 18052 116000 18052 116001 11267 113352 10102 116002 10104 116003 18054 116004 18052 116005 3758 116006 16890 116007 16889 116008 3759 116009 3758 116010 290 116011 286 116012 290 116013 3759 116014 3759 116015 290 116016 10105 116017 10105 116018 290 116019 289 116020 3754 116021 3759 116022 286 116023 286 116024 3759 116025 3755 116026 3755 116027 3759 116028 289 116029 289 116030 3759 116031 10105 116032 10104 116033 10105 116034 16892 116035 16892 116036 16893 116037 3754 116038 3754 116039 16893 116040 286 116041 286 116042 16893 116043 10106 116044 10106 116045 10105 116046 16894 116047 286 116048 289 116049 3755 116050 3755 116051 289 116052 285 116053 11262 116054 11264 116055 18051 116056 18051 116057 11264 116058 11263 116059 11265 116060 11264 116061 18053 116062 18050 116063 18053 116064 11265 116065 11265 116066 18053 116067 18052 116068 11263 116069 11265 116070 10107 113352 10107 116071 10104 116072 16895 116073 16895 116074 16892 116075 18050 116076 18050 116077 11265 116078 16892 116079 3755 116080 3754 116081 286 116082 282 116083 286 116084 3755 116085 3755 116086 286 116087 10106 116088 10106 116089 286 116090 285 116091 3750 116092 3755 116093 282 116094 282 116095 3755 116096 3751 116097 10106 116098 10108 116099 3755 116100 10106 116101 3755 116102 285 116103 10107 116104 10106 116105 16895 116106 16895 116107 16894 116108 3750 116109 3750 116110 16894 116111 282 116112 282 116113 16894 116114 3751 116115 37651 116116 37655 116117 34219 116118 10108 116119 10106 116120 16896 116121 11260 116122 11262 116123 18049 116124 18049 116125 11262 116126 11261 116127 11263 116128 11262 116129 18051 116130 18048 116131 18051 116132 11263 116133 11263 116134 18051 116135 18050 116136 10109 116137 10107 116138 11261 113352 11261 116139 11263 116140 16897 116141 16897 116142 16895 116143 18048 116144 18048 116145 11263 113352 10107 116146 3751 116147 3750 116148 282 116149 278 116150 282 116151 3751 116152 3751 116153 282 116154 281 116155 3746 116156 3751 116157 278 116158 278 116159 3751 116160 3747 116161 10108 116162 10110 116163 3751 116164 10108 116165 3751 116166 281 116167 10109 116168 10108 116169 16897 116170 16897 116171 16896 116172 3746 116173 3746 116174 16896 116175 278 116176 278 116177 16896 116178 3747 116179 25497 116180 30440 116181 30438 116182 10110 116183 10108 116184 16898 116185 16898 116186 16896 116187 10108 116188 11258 116189 11260 116190 18047 116191 18047 116192 11260 116193 11259 116194 11261 116195 11260 116196 18049 116197 18046 116198 18049 116199 11261 116200 11261 116201 18049 116202 18048 116203 11259 116204 11261 116205 10111 113352 10111 116206 10109 116207 16899 116208 16899 116209 16897 116210 18046 116211 18046 116212 11261 113352 10109 116213 3747 116214 3746 116215 278 116216 274 116217 278 116218 3747 116219 3747 116220 278 116221 277 116222 3742 116223 3747 116224 274 116225 274 116226 3747 116227 3743 116228 3743 116229 3747 116230 277 116231 277 116232 3747 116233 10110 116234 10111 116235 10110 116236 16899 116237 16899 116238 16898 116239 3742 116240 3742 116241 16898 116242 274 116243 274 116244 16898 116245 10112 116246 10112 116247 10110 116248 16900 116249 274 116250 277 116251 3743 116252 3743 116253 277 116254 10112 116255 10112 116256 277 116257 273 116258 11256 116259 11258 116260 18045 116261 18045 116262 11258 116263 11257 116264 11259 116265 11258 116266 18047 116267 18044 116268 18047 116269 11259 116270 11259 116271 18047 116272 18046 116273 10113 116274 10111 116275 11257 113352 11257 116276 11259 116277 16901 116278 16901 116279 16899 116280 18044 116281 18044 116282 11259 116283 16899 116284 3743 116285 3742 116286 274 116287 270 116288 274 116289 3743 116290 3743 116291 274 116292 10112 116293 10112 116294 274 116295 273 116296 3738 116297 3743 116298 270 116299 270 116300 3743 116301 3739 116302 3739 116303 3743 116304 273 116305 273 116306 3743 116307 10112 116308 10113 116309 10112 116310 16901 116311 16901 116312 16900 116313 3738 116314 3738 116315 16900 116316 270 116317 270 116318 16900 116319 10114 116320 10114 116321 10112 116322 16902 116323 16902 116324 16900 116325 10112 116326 270 116327 273 116328 3739 116329 3739 116330 273 116331 10114 116332 10114 116333 273 116334 269 116335 11254 116336 11256 116337 18043 116338 18043 116339 11256 116340 11255 116341 11257 116342 11256 116343 18045 116344 18042 116345 18045 116346 11257 116347 11257 116348 18045 116349 18044 116350 16901 116351 3738 116352 3734 116353 3739 116354 3738 116355 270 116356 266 116357 270 116358 3739 116359 3739 116360 270 116361 10114 116362 10114 116363 270 116364 269 116365 11255 116366 11257 116367 10115 113352 10115 116368 10113 116369 16903 116370 16903 116371 16901 116372 18042 116373 18042 116374 11257 113352 10113 116375 3734 116376 3739 116377 266 116378 266 116379 3739 116380 3735 116381 3735 116382 3739 116383 269 116384 269 116385 3739 116386 10114 116387 10115 116388 10114 116389 16903 116390 16903 116391 16902 116392 3734 116393 3734 116394 16902 116395 266 116396 266 116397 16902 116398 10116 116399 10116 116400 10114 116401 16904 116402 266 116403 269 116404 3735 116405 3735 116406 269 116407 10116 116408 10116 116409 269 116410 265 116411 16903 116412 3734 116413 3730 116414 3735 116415 3734 116416 266 116417 262 116418 266 116419 3735 116420 3735 116421 266 116422 10116 116423 10116 116424 266 116425 265 116426 11252 116427 11254 116428 18041 116429 18041 116430 11254 116431 11253 116432 11255 116433 11254 116434 18043 116435 18040 116436 18043 116437 11255 116438 11255 116439 18043 116440 18042 116441 3730 116442 3735 116443 262 116444 262 116445 3735 116446 3731 116447 3731 116448 3735 116449 265 116450 265 116451 3735 116452 10116 116453 10115 116454 10116 116455 16903 116456 16903 116457 16904 116458 10117 116459 10117 116460 10116 116461 16905 116462 16905 116463 16904 116464 3730 116465 16904 116466 10118 116467 3730 116468 38434 116469 34999 116470 28852 116471 10118 116472 10116 116473 16906 116474 16906 116475 16904 116476 10116 116477 262 116478 265 116479 3731 116480 3731 116481 265 116482 261 116483 10117 116484 10115 116485 11253 113352 11253 116486 11255 116487 16905 116488 16905 116489 16903 116490 18040 116491 18040 116492 11255 116493 16903 116494 16905 116495 3730 116496 3726 116497 3731 116498 3730 116499 262 116500 258 116501 262 116502 3731 116503 3731 116504 262 116505 10118 116506 10118 116507 262 116508 261 116509 3726 116510 3731 116511 258 116512 258 116513 3731 116514 3727 116515 10118 116516 10120 116517 3731 116518 10118 116519 3731 116520 261 116521 10117 116522 10118 116523 16905 116524 16905 116525 16906 116526 18040 116527 18040 116528 16906 116529 10119 116530 10119 116531 10118 116532 16907 116533 16907 116534 16906 116535 3726 116536 3726 116537 16906 116538 258 116539 258 116540 16906 116541 3727 116542 23636 116543 34438 116544 34442 116545 10120 116546 10118 116547 16908 116548 11250 116549 11252 116550 18039 116551 18039 116552 11252 116553 11251 116554 11253 116555 11252 116556 18041 116557 18038 116558 18041 116559 11253 116560 11253 116561 18041 116562 18040 116563 11251 116564 11253 116565 10119 113352 10119 116566 10117 116567 16907 116568 16907 116569 16905 116570 18038 116571 18038 116572 11253 113352 10117 116573 10119 116574 18040 116575 18038 52161 16907 116576 3726 116577 3722 116578 3727 116579 3726 116580 258 116581 254 116582 258 116583 3727 116584 3727 116585 258 116586 10120 116587 10120 116588 258 116589 257 116590 3722 116591 3727 116592 254 116593 254 116594 3727 116595 3723 116596 3723 116597 3727 116598 257 116599 257 116600 3727 116601 10120 116602 10119 116603 10120 116604 16907 116605 16907 116606 16908 116607 18038 116608 18038 116609 16908 116610 10121 116611 10121 116612 10120 116613 16909 116614 16909 116615 16908 116616 3722 116617 3722 116618 16908 116619 254 116620 254 116621 16908 116622 10122 116623 10122 116624 10120 116625 16910 116626 16910 116627 16908 116628 10120 116629 254 116630 257 116631 3723 116632 3723 116633 257 116634 253 116635 11248 116636 11250 116637 18037 116638 18037 116639 11250 116640 11249 116641 11251 116642 11250 116643 18039 116644 18036 116645 18039 116646 11251 116647 11251 116648 18039 116649 18038 116650 10121 116651 10119 116652 11249 113352 11249 116653 11251 116654 16909 116655 16909 116656 16907 116657 18036 116658 18036 116659 11251 116660 16907 116661 10121 116662 18038 116663 18036 51880 16909 116664 3722 116665 18036 116666 18036 116667 3722 116668 3718 116669 3723 116670 3722 116671 254 116672 250 116673 254 116674 3723 116675 3723 116676 254 116677 10122 116678 10122 116679 254 116680 253 116681 3718 116682 3723 116683 250 116684 250 116685 3723 116686 3719 116687 3719 116688 3723 116689 10122 116690 10122 116691 3723 116692 253 116693 10121 116694 10122 116695 16909 116696 16909 116697 16910 116698 18036 116699 18036 116700 16910 116701 10123 116702 10123 116703 10122 116704 16911 116705 16911 116706 16910 116707 3718 116708 3718 116709 16910 116710 250 116711 250 116712 16910 116713 3719 116714 3719 116715 10122 116716 10124 116717 10124 116718 10122 116719 16912 116720 11246 116721 11248 116722 18035 116723 18035 116724 11248 116725 11247 116726 11249 116727 11248 116728 18037 116729 18034 116730 18037 116731 11249 116732 11249 116733 18037 116734 18036 116735 11247 116736 11249 116737 10123 113352 10123 116738 10121 116739 16911 116740 16911 116741 16909 116742 18034 116743 18034 116744 11249 113352 10121 116745 10123 116746 18036 116747 18034 116748 18034 116749 18036 116750 3718 116751 16911 116752 3718 116753 18034 116754 18034 116755 3718 116756 3714 116757 3719 116758 3718 116759 250 116760 246 116761 250 116762 3719 116763 3719 116764 250 116765 10124 116766 10124 116767 250 116768 249 116769 3714 116770 3719 116771 246 116772 246 116773 3719 116774 3715 116775 3715 116776 3719 116777 249 116778 249 116779 3719 116780 10124 116781 10123 116782 10124 116783 16911 116784 16911 116785 16912 116786 18034 116787 18034 116788 16912 116789 10125 116790 10125 116791 10124 116792 16913 116793 16913 116794 16912 116795 3714 116796 3714 116797 16912 116798 246 116799 246 116800 16912 116801 10126 116802 10126 116803 10124 116804 16914 116805 16914 116806 16912 116807 10124 116808 246 116809 249 116810 3715 116811 3715 116812 249 116813 10126 116814 10126 116815 249 116816 245 116817 11244 116818 11246 116819 18033 116820 18033 116821 11246 116822 11245 116823 11247 116824 11246 116825 18035 116826 18032 116827 18035 116828 11247 116829 11247 116830 18035 116831 18034 116832 10125 116833 10123 116834 11245 113352 11245 116835 11247 116836 16913 116837 16913 116838 16911 116839 18032 116840 18032 116841 11247 116842 18034 116843 10125 116844 18034 116845 18032 51924 18032 116846 18034 116847 3714 116848 16913 116849 3714 116850 18032 116851 18032 116852 3714 116853 3710 116854 3715 116855 3714 116856 246 116857 242 116858 246 116859 3715 116860 3715 116861 246 116862 10126 116863 10126 116864 246 116865 245 116866 3710 116867 3715 116868 242 116869 242 116870 3715 116871 3711 116872 3711 116873 3715 116874 245 116875 245 116876 3715 116877 10126 116878 10125 116879 10126 116880 16913 116881 16913 116882 16914 116883 18032 116884 18032 116885 16914 116886 10127 116887 10127 116888 10126 116889 16915 116890 16915 116891 16914 116892 3710 116893 3710 116894 16914 116895 242 116896 242 116897 16914 116898 10128 116899 10128 116900 10126 116901 16916 116902 242 116903 245 116904 3711 116905 3711 116906 245 116907 10128 116908 10128 116909 245 116910 241 116911 11242 116912 11244 116913 18031 116914 18031 116915 11244 116916 11243 116917 11245 116918 11244 116919 18033 116920 18030 116921 18033 116922 11245 116923 11245 116924 18033 116925 18032 116926 11243 116927 11245 116928 10127 113352 10127 116929 10125 116930 16915 116931 16915 116932 16913 116933 18030 116934 18030 116935 11245 113352 10125 116936 10127 116937 18032 116938 18030 52146 18030 116939 18032 116940 3710 116941 16915 116942 3710 116943 18030 116944 18030 116945 3710 116946 3706 116947 3711 116948 3710 116949 242 116950 238 116951 242 116952 3711 116953 3711 116954 242 116955 10128 116956 10128 116957 242 116958 241 116959 3706 116960 3711 116961 238 116962 238 116963 3711 116964 3707 116965 3707 116966 3711 116967 241 116968 241 116969 3711 116970 10128 116971 10127 116972 10128 116973 16915 116974 16915 116975 16916 116976 3706 116977 3706 116978 16916 116979 238 116980 238 116981 16916 116982 10129 116983 10129 116984 10128 116985 16917 116986 16917 116987 16916 116988 10128 116989 238 116990 241 116991 3707 116992 3707 116993 241 116994 237 116995 11240 116996 11242 116997 18029 116998 18029 116999 11242 117000 11241 117001 11243 117002 11242 117003 18031 117004 18028 117005 18031 117006 11243 117007 11243 117008 18031 117009 18030 117010 10130 117011 10127 117012 11241 113352 11241 117013 11243 117014 16918 117015 16918 117016 16915 117017 18028 117018 18028 117019 11243 117020 16915 117021 3706 117022 3702 117023 18030 117024 3618 117025 17986 117026 17988 117027 3707 117028 3706 117029 238 117030 234 117031 238 117032 3707 117033 3707 117034 238 117035 10129 117036 10129 117037 238 117038 237 117039 3702 117040 3707 117041 234 117042 234 117043 3707 117044 3703 117045 10129 117046 10131 117047 3707 117048 10129 117049 3707 117050 237 117051 10130 117052 10129 117053 16918 117054 16918 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117133 230 117134 16919 117135 3699 117136 20537 117137 34504 117138 20538 117139 10133 117140 10131 117141 16921 117142 16921 117143 16919 117144 10131 117145 11237 117146 11238 117147 18025 117148 18025 117149 11238 117150 11236 117151 11239 117152 11238 117153 18027 117154 18024 117155 18027 117156 11239 117157 11239 117158 18027 117159 18026 117160 10134 117161 10132 117162 11236 113352 11236 117163 11239 117164 16922 117165 16922 117166 16920 117167 18024 117168 18024 117169 11239 117170 16920 117171 3698 117172 3694 117173 18026 117174 23694 117175 32243 117176 32245 117177 3699 117178 3698 117179 230 117180 225 117181 230 117182 3699 117183 3699 117184 230 117185 229 117186 3694 117187 3699 117188 225 117189 225 117190 3699 117191 3695 117192 3695 117193 3699 117194 229 117195 229 117196 3699 117197 10133 117198 10134 117199 10133 117200 16922 117201 16922 117202 16921 117203 3694 117204 3694 117205 16921 117206 225 117207 225 117208 16921 117209 10135 117210 10135 117211 10133 117212 16923 117213 225 117214 229 117215 3695 117216 3695 117217 229 117218 10135 117219 10135 117220 229 117221 226 117222 11236 117223 11237 117224 18025 117225 18023 117226 18025 117227 11236 117228 11236 117229 18025 117230 18024 117231 11235 117232 11236 117233 18023 117234 18023 117235 11236 117236 11234 117237 11234 117238 11236 117239 10136 113352 10136 117240 10134 117241 16924 117242 16924 117243 16922 117244 10134 117245 3694 117246 3690 117247 18024 117248 32798 117249 32800 117250 27776 117251 3690 117252 3694 117253 221 117254 221 117255 3694 117256 3691 117257 3695 117258 3694 117259 225 117260 222 117261 225 117262 3695 117263 3695 117264 225 117265 10135 117266 10135 117267 225 117268 226 117269 3691 117270 3695 117271 222 117272 222 117273 3695 117274 226 117275 226 117276 3695 117277 10135 117278 10136 117279 10135 117280 16924 117281 16924 117282 16923 117283 3690 117284 16923 117285 10137 117286 3690 117287 10148 117288 18011 117289 18013 117290 10137 117291 10135 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12691 28938 19479 53333 19481 53269 11431 201312 18219 201313 18221 201314 13327 29588 13329 29590 20116 53358 12847 29096 19635 52978 19633 53360 12755 29004 12753 29002 19541 52920 12701 28948 12699 28946 19487 53338 11439 201315 18227 201316 18229 201317 13337 29598 20124 43212 20122 53363 12855 29104 19643 52982 19641 53364 12761 29010 19549 52926 19551 53365 12707 28954 19495 53341 19497 53366 11447 201318 18235 201319 18237 201320 13343 201321 20132 201322 20131 201323 12861 29110 12863 29112 19651 52987 13345 201324 20133 201325 20132 201326 12771 29020 12769 29018 19557 52929 12715 28962 19503 53344 19505 53375 11455 201327 18243 201328 18245 201329 13351 29616 13353 29618 20140 53376 12869 29118 12871 29120 19659 52992 12723 28972 19512 53380 19511 52962 12777 29026 19565 52935 19567 53379 12725 28974 19513 47638 19512 53380 11463 201330 18251 201331 18253 201332 13361 29626 20148 53757 20146 53381 12879 29128 19667 53000 19665 53382 12785 29034 19573 52940 19575 53383 12733 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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="ID52-mesh" name="ID52">
+      <mesh>
+        <source id="ID52-mesh-positions">
+          <float_array id="ID52-mesh-positions-array" count="6">-930.3844 -166.7439 -22.59965 -930.2199 -166.7126 -22.59965</float_array>
+          <technique_common>
+            <accessor source="#ID52-mesh-positions-array" count="2" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="ID52-mesh-normals">
+          <float_array id="ID52-mesh-normals-array" count="0"/>
+          <technique_common>
+            <accessor source="#ID52-mesh-normals-array" count="0" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="ID52-mesh-vertices">
+          <input semantic="POSITION" source="#ID52-mesh-positions"/>
+        </vertices>
+        <lines count="1">
+          <input semantic="VERTEX" source="#ID52-mesh-vertices" offset="0"/>
+          <p>0 1</p>
+        </lines>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="SketchUp" name="SketchUp" type="NODE">
+        <matrix sid="transform">0.0254 0 0 0 0 0.0254 0 0 0 0 0.0054 0 0 0 0 1</matrix>
+        <instance_geometry url="#ID52-mesh" name="SketchUp">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="edge_color000255_001-material" target="#edge_color000255_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <node id="instance_0" name="instance_0" type="NODE">
+          <matrix sid="transform">1 0 0 -2.568226 0 1 0 -121.2661 0 0 1 42.28469 0 0 0 1</matrix>
+          <instance_geometry url="#ID4-mesh" name="instance_0">
+            <bind_material>
+              <technique_common>
+                <instance_material symbol="material_001-material" target="#material_001-material"/>
+              </technique_common>
+            </bind_material>
+          </instance_geometry>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/CustomRobots/f1/models/nurburgring_line/meshes/pared.stl b/CustomRobots/f1/models/nurburgring_line/meshes/pared.stl
new file mode 100644
index 000000000..f39cfa3ab
Binary files /dev/null and b/CustomRobots/f1/models/nurburgring_line/meshes/pared.stl differ
diff --git a/CustomRobots/f1/models/nurburgring_line/model.sdf b/CustomRobots/f1/models/nurburgring_line/model.sdf
index 6d3df21ce..f21fa9324 100755
--- a/CustomRobots/f1/models/nurburgring_line/model.sdf
+++ b/CustomRobots/f1/models/nurburgring_line/model.sdf
@@ -23,14 +23,14 @@
     <collision name="collision">
       <geometry>
         <mesh>
-          <uri>model://nurburgring_line/meshes/Nurburgrin_Pared.dae</uri>
+          <uri>model://nurburgring_line/meshes/pared.stl</uri>
         </mesh>
       </geometry>
     </collision>
     <visual name="visual">
       <geometry>
         <mesh>
-          <uri>model://nurburgring_line/meshes/Nurburgrin_Pared.dae</uri>
+          <uri>model://nurburgring_line/meshes/pared.stl</uri>
         </mesh>
       </geometry>
     </visual>
diff --git a/CustomRobots/f1/models/simple_circuit/meshes/pared.dae b/CustomRobots/f1/models/simple_circuit/meshes/pared.dae
old mode 100755
new mode 100644
index 98cb18db7..018d16236
--- a/CustomRobots/f1/models/simple_circuit/meshes/pared.dae
+++ b/CustomRobots/f1/models/simple_circuit/meshes/pared.dae
@@ -3,2484 +3,98 @@
   <asset>
     <contributor>
       <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+      <authoring_tool>Blender 4.5.3 LTS commit date:2025-09-08, commit time:12:46, hash:67807e1800cc</authoring_tool>
     </contributor>
-    <created>2019-02-10T18:59:20</created>
-    <modified>2019-02-10T18:59:20</modified>
+    <created>2025-10-31T12:24:52</created>
+    <modified>2025-10-31T12:24:52</modified>
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-  <library_cameras>
-    <camera id="skp_camera_Last_Saved_SketchUp_View-camera" name="skp_camera_Last_Saved_SketchUp_View">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">0</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">1</znear>
-            <zfar sid="zfar">1000</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Point-light" name="Point">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.001599967</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">1</energy>
-          <dist sid="blender_dist" type="float">25</dist>
-          <spotsize sid="spotsize" type="float">45</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
-          <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">0.5</clipsta>
-          <clipend sid="clipend" type="float">40</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
-          <bufsize sid="bufsize" type="int">512</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <filtertype sid="filtertype" type="int">0</filtertype>
-          <bufflag sid="bufflag" type="int">0</bufflag>
-          <buftype sid="buftype" type="int">2</buftype>
-          <ray_samp sid="ray_samp" type="int">1</ray_samp>
-          <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
-          <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
-          <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
-          <area_shape sid="area_shape" type="int">0</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">0.1</area_sizez>
-          <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
-          <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
-          <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
-          <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
-          <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
-          <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
-          <spread sid="spread" type="float">1</spread>
-          <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
-          <sun_size sid="sun_size" type="float">1</sun_size>
-          <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
-          <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
-          <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
-          <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
-          <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
-          <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
-          <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
-          <sky_colorspace sid="sky_colorspace" type="int">2</sky_colorspace>
-        </technique>
-      </extra>
-    </light>
-    <light id="Sun-light" name="Sun">
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-        <directional>
-          <color sid="color">1 1 1</color>
-        </directional>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
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-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
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2121 996 994 2122 995 993 2123 997 995 2124 999 997 2125 1000 998 2126 1000 998 2127 998 996 2128 997 995 2129 999 997 2130 1001 999 2131 1002 1000 2132 1002 1000 2133 1000 998 2134 999 997 2135 1001 999 2136 1003 1001 2137 1004 1002 2138 1004 1002 2139 1002 1000 2140 1001 999 2141 1003 1001 2142 1005 1003 2143 1006 1004 2144 1006 1004 2145 1004 1002 2146 1003 1001 2147 1005 1003 2148 1007 1005 2149 1008 1006 2150 1008 1006 2151 1006 1004 2152 1005 1003 2153 1007 1005 2154 1009 1007 2155 1010 1008 2156 1010 1008 2157 1008 1006 2158 1007 1005 2159 1009 1007 2160 1011 1009 2161 1012 1010 2162 1012 1010 2163 1010 1008 2164 1009 1007 2165 1011 1009 2166 1013 1011 2167 1014 1012 2168 1014 1012 2169 1012 1010 2170 1011 1009 2171 1013 1011 2172 1015 1013 2173 1016 1014 2174 1016 1014 2175 1014 1012 2176 1013 1011 2177 1015 1013 2178 1017 1015 2179 1018 1016 2180 1018 1016 2181 1016 1014 2182 1015 1013 2183 1017 1015 2184 1019 1017 2185 1020 1018 2186 1020 1018 2187 1018 1016 2188 1017 1015 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1040 2256 1041 1039 2257 1043 1041 2258 1043 1041 2259 1044 1042 2260 1042 1040 2261 1044 1042 2262 1043 1041 2263 1045 1043 2264 1045 1043 2265 1046 1044 2266 1044 1042 2267 1046 1044 2268 1045 1043 2269 1047 1045 2270 1047 1045 2271 1048 1046 2272 1046 1044 2273 1048 1046 2274 1047 1045 2275 1049 1047 2276 1049 1047 2277 1050 1048 2278 1048 1046 2279 1051 1049 2280 1052 1050 2281 1053 1051 2282 1053 1051 2283 1054 1052 2284 1051 1049 2285 1054 1052 2286 1053 1051 2287 1055 1053 2288 1055 1053 2289 1056 1054 2290 1054 1052 2291 1057 1055 2292 1058 1056 2293 1059 1057 2294 1059 1057 2295 1060 1058 2296 1057 1055 2297 1061 1059 2298 1062 1060 2299 1063 1061 2300 1063 1061 2301 1064 1062 2302 1061 1059 2303 1065 1063 2304 1066 1064 2305 1067 1065 2306 1067 1065 2307 1068 1066 2308 1065 1063 2309 1069 1067 2310 1070 1068 2311 1071 1069 2312 1071 1069 2313 1072 1070 2314 1069 1067 2315 1073 1071 2316 1074 1072 2317 1075 1073 2318 1075 1073 2319 1076 1074 2320 1073 1071 2321 1077 1075 2322 1078 1076 2323 1079 1077 2324 1079 1077 2325 1080 1078 2326 1077 1075 2327 1081 1079 2328 1082 1080 2329 1083 1081 2330 1083 1081 2331 1084 1082 2332 1081 1079 2333 1085 1083 2334 1086 1084 2335 1087 1085 2336 1087 1085 2337 1088 1086 2338 1085 1083 2339 1089 1087 2340 1090 1088 2341 1091 1089 2342 1091 1089 2343 1092 1090 2344 1089 1087 2345 1093 1091 2346 1094 1092 2347 1095 1093 2348 1095 1093 2349 1096 1094 2350 1093 1091 2351 1097 1095 2352 1098 1096 2353 1099 1097 2354 1099 1097 2355 1100 1098 2356 1097 1095 2357 1101 1099 2358 1102 1100 2359 1103 1101 2360 1103 1101 2361 1104 1102 2362 1101 1099 2363 1105 1103 2364 1106 1104 2365 1107 1105 2366 1107 1105 2367 1108 1106 2368 1105 1103 2369 1109 1107 2370 1110 1108 2371 1111 1109 2372 1111 1109 2373 1112 1110 2374 1109 1107 2375 1113 1111 2376 1114 1112 2377 1115 1113 2378 1115 1113 2379 1116 1114 2380 1113 1111 2381 1117 1115 2382 1118 1116 2383 1119 1117 2384 1119 1117 2385 1120 1118 2386 1117 1115 2387 1121 1119 2388 1122 1120 2389 1123 1121 2390 1123 1121 2391 1124 1122 2392 1121 1119 2393 1125 1123 2394 1126 1124 2395 1127 1125 2396 1127 1125 2397 1128 1126 2398 1125 1123 2399 1129 1127 2400 1130 1128 2401 1131 1129 2402 1131 1129 2403 1132 1130 2404 1129 1127 2405 1133 1131 2406 1134 1132 2407 1135 1133 2408 1135 1133 2409 1136 1134 2410 1133 1131 2411 1137 1135 2412 1138 1136 2413 1139 1137 2414 1139 1137 2415 1140 1138 2416 1137 1135 2417 1141 1139 2418 1142 1140 2419 1143 1141 2420 1143 1141 2421 1144 1142 2422 1141 1139 2423 1145 1143 2424 1146 1144 2425 1147 1145 2426 1147 1145 2427 1148 1146 2428 1145 1143 2429 1146 1144 2430 1149 1147 2431 1150 1148 2432 1150 1148 2433 1147 1145 2434 1146 1144 2435 1149 1147 2436 1151 1149 2437 1152 1150 2438 1152 1150 2439 1150 1148 2440 1149 1147 2441 1152 1150 2442 1151 1149 2443 1153 1151 2444 1153 1151 2445 1154 1152 2446 1152 1150 2447 1154 1152 2448 1153 1151 2449 1155 1153 2450 1155 1153 2451 1156 1154 2452 1154 1152 2453 1156 1154 2454 1155 1153 2455 1157 1155 2456 1157 1155 2457 1158 1156 2458 1156 1154 2459 1157 1155 2460 1159 1157 2461 1160 1158 2462 1160 1158 2463 1158 1156 2464 1157 1155 2465 1159 1157 2466 1161 1159 2467 1162 1160 2468 1162 1160 2469 1160 1158 2470 1159 1157 2471 1161 1159 2472 1163 1161 2473 1164 1162 2474 1164 1162 2475 1162 1160 2476 1161 1159 2477 1165 1163 2478 1164 1162 2479 1163 1161 2480 1163 1161 2481 1166 1164 2482 1165 1163 2483 1167 1165 2484 1165 1163 2485 1166 1164 2486 1166 1164 2487 1168 1166 2488 1167 1165 2489 1169 1167 2490 1167 1165 2491 1168 1166 2492 1168 1166 2493 1170 1168 2494 1169 1167 2495 1171 1169 2496 1172 1170 2497 1173 1171 2498 1173 1171 2499 1174 1172 2500 1171 1169 2501 1175 1173 2502 1176 1174 2503 1177 1175 2504 1177 1175 2505 1178 1176 2506 1175 1173 2507 1179 1177 2508 1180 1178 2509 1181 1179 2510 1181 1179 2511 1182 1180 2512 1179 1177 2513 1183 1181 2514 1184 1182 2515 1185 1183 2516 1185 1183 2517 1186 1184 2518 1183 1181 2519 1187 1185 2520 1188 1186 2521 1189 1187 2522 1189 1187 2523 1190 1188 2524 1187 1185 2525 1191 1189 2526 1192 1190 2527 1193 1191 2528 1193 1192 2529 1194 1193 2530 1191 1194 2531 1194 1193 2532 1195 1195 2533 1191 1194 2534 1194 1196 2535 1196 1197 2536 1195 1198 2537 1197 1199 2538 1198 1200 2539 1199 1201 2540 1199 1201 2541 1200 1202 2542 1197 1199 2543 1201 1203 2544 1202 20 2545 1203 1204 2546 1203 1204 2547 1204 1205 2548 1201 1203 2549 1205 1206 2550 1206 1207 2551 1207 1208 2552 1207 1208 2553 1208 1209 2554 1205 1206 2555 1209 1210 2556 1210 1211 2557 1211 1212 2558 1211 1212 2559 1212 1213 2560 1209 1210 2561 1213 1214 2562 1214 1215 2563 1215 1216 2564 1215 1216 2565 1216 1217 2566 1213 1214 2567 1217 1218 2568 1218 1219 2569 1219 1220 2570 1219 1220 2571 1220 1221 2572 1217 1218 2573 1221 1222 2574 1222 1223 2575 1223 1224 2576 1223 1224 2577 1224 1225 2578 1221 1222 2579 1225 1226 2580 1226 1227 2581 1227 1228 2582 1227 1228 2583 1228 1229 2584 1225 1226 2585 1228 1229 2586 1229 1230 2587 1225 1226 2588 1228 1229 2589 1230 1231 2590 1229 1230 2591 1231 1232 2592 1232 889 2593 1233 1233 2594 1233 1233 2595 1234 1234 2596 1231 1232 2597 1235 1235 2598 1236 1236 2599 1237 1237 2600 1237 1237 2601 1238 1238 2602 1235 1235 2603 1239 1239 2604 1240 1240 2605 1241 1241 2606 1241 1241 2607 1242 1242 2608 1239 1239 2609 1243 1243 2610 1244 1244 2611 1245 1245 2612 1245 1245 2613 1246 1246 2614 1243 1243 2615 1247 1247 2616 1248 1248 2617 1249 1249 2618 1249 1249 2619 1250 1250 2620 1247 1247 2621 1251 1251 2622 1252 1252 2623 1253 1253 2624 1253 1253 2625 1254 1254 2626 1251 1251 2627 1255 1255 2628 1256 1256 2629 1257 1257 2630 1257 1257 2631 1258 1258 2632 1255 1255 2633 1259 1259 2634 1260 1260 2635 1261 1261 2636 1261 1261 2637 1262 1262 2638 1259 1259 2639 1263 1263 2640 1264 1264 2641 1265 1265 2642 1265 1265 2643 1266 1266 2644 1263 1263 2645 1267 1267 2646 1268 1268 2647 1269 1269 2648 1269 1269 2649 1270 1270 2650 1267 1267 2651 1271 1271 2652 1272 1272 2653 1273 1273 2654 1273 1273 2655 1274 1274 2656 1271 1271 2657 1275 1275 2658 1276 1276 2659 1277 1277 2660 1277 1277 2661 1278 1278 2662 1275 1275 2663 1279 1279 2664 1280 1280 2665 1281 1281 2666 1281 1281 2667 1282 1282 2668 1279 1279 2669 1283 1283 2670 1284 1284 2671 1285 1285 2672 1285 1285 2673 1286 1286 2674 1283 1283 2675 1287 1287 2676 1288 1288 2677 1289 1289 2678 1289 1289 2679 1290 1290 2680 1287 1287 2681 1291 1291 2682 1292 1292 2683 1293 1293 2684 1293 1293 2685 1294 1294 2686 1291 1291 2687 1295 1295 2688 1296 1296 2689 1297 1297 2690 1297 1297 2691 1298 1298 2692 1295 1295 2693 1299 1299 2694 1300 1300 2695 1301 1301 2696 1301 1301 2697 1302 1302 2698 1299 1299 2699 1303 1303 2700 1304 1304 2701 1305 1305 2702 1305 1305 2703 1306 1306 2704 1303 1303 2705 1307 1307 2706 1308 1308 2707 1309 1309 2708 1309 1309 2709 1310 1310 2710 1307 1307 2711 1311 1311 2712 1312 1312 2713 1313 1313 2714 1313 1313 2715 1314 1314 2716 1311 1311 2717 1315 1315 2718 1316 1316 2719 1317 1317 2720 1317 1317 2721 1318 1318 2722 1315 1315 2723 1317 1317 2724 1319 1319 2725 1320 1320 2726 1320 1320 2727 1318 1318 2728 1317 1317 2729 1321 1321 2730 1322 1322 2731 1323 1323 2732 1323 1323 2733 1324 1324 2734 1321 1321 2735 1322 1322 2736 1325 1325 2737 1326 1326 2738 1326 1326 2739 1323 1323 2740 1322 1322 2741 1325 1325 2742 1327 1327 2743 1328 1328 2744 1328 1328 2745 1326 1326 2746 1325 1325 2747 1327 1327 2748 1329 1329 2749 1330 1330 2750 1330 1330 2751 1328 1328 2752 1327 1327 2753 1329 1329 2754 1331 1331 2755 1332 1332 2756 1332 1332 2757 1330 1330 2758 1329 1329 2759 1331 1331 2760 1333 1333 2761 1334 1334 2762 1334 1334 2763 1332 1332 2764 1331 1331 2765 1333 1333 2766 1335 1335 2767 1336 1336 2768 1336 1336 2769 1334 1334 2770 1333 1333 2771 1335 1335 2772 1337 1337 2773 1338 1338 2774 1338 1338 2775 1336 1336 2776 1335 1335 2777 1339 1339 2778 1338 1338 2779 1337 1337 2780 1337 1337 2781 1340 1340 2782 1339 1339 2783 1341 1341 2784 1339 1339 2785 1340 1340 2786 1340 1340 2787 1342 1342 2788 1341 1341 2789 1343 1343 2790 1341 1341 2791 1342 1342 2792 1342 1342 2793 1344 1344 2794 1343 1343 2795 1345 1345 2796 1343 1343 2797 1344 1344 2798 1344 1344 2799 1346 1346 2800 1345 1345 2801 1347 1347 2802 1345 1345 2803 1346 1346 2804 1346 1346 2805 1348 1348 2806 1347 1347 2807 1349 1349 2808 1347 1347 2809 1348 1348 2810 1348 1348 2811 1350 1350 2812 1349 1349 2813 1351 1351 2814 1349 1349 2815 1350 1350 2816 1350 1350 2817 1352 1352 2818 1351 1351 2819 1353 1353 2820 1351 1351 2821 1352 1352 2822 1352 1352 2823 1354 1354 2824 1353 1353 2825 1355 1355 2826 1353 1353 2827 1354 1354 2828 1354 1354 2829 1356 1356 2830 1355 1355 2831 1357 1357 2832 1355 1355 2833 1356 1356 2834 1356 1356 2835 1358 1358 2836 1357 1357 2837 1359 1359 2838 1357 1357 2839 1358 1358 2840 1358 1358 2841 1360 1360 2842 1359 1359 2843 1361 1361 2844 1359 1359 2845 1360 1360 2846 1360 1360 2847 1362 1362 2848 1361 1361 2849 1363 1363 2850 1361 1361 2851 1362 1362 2852 1362 1362 2853 1364 1364 2854 1363 1363 2855 1365 1365 2856 1363 1363 2857 1364 1364 2858 1364 1364 2859 1366 1366 2860 1365 1365 2861 1367 1367 2862 1365 1365 2863 1366 1366 2864 1366 1366 2865 1368 1368 2866 1367 1367 2867 1369 1369 2868 1367 1367 2869 1368 1368 2870 1368 1368 2871 1370 1370 2872 1369 1369 2873 1371 1371 2874 1369 1369 2875 1370 1370 2876 1370 1370 2877 1372 1372 2878 1371 1371 2879 1373 1373 2880 1371 1371 2881 1372 1372 2882 1372 1372 2883 1374 1374 2884 1373 1373 2885 1375 1375 2886 1373 1373 2887 1374 1374 2888 1374 1374 2889 1376 1376 2890 1375 1375 2891 1376 1376 2892 1377 1377 2893 1378 1378 2894 1378 1378 2895 1375 1375 2896 1376 1376 2897 1377 1377 2898 1379 1379 2899 1380 1380 2900 1380 1380 2901 1378 1378 2902 1377 1377 2903 1379 1379 2904 1381 1381 2905 1382 1382 2906 1382 1382 2907 1380 1380 2908 1379 1379 2909 1381 1381 2910 1383 1383 2911 1384 1384 2912 1384 1384 2913 1382 1382 2914 1381 1381 2915 1383 1383 2916 1385 1385 2917 1386 1386 2918 1386 1386 2919 1384 1384 2920 1383 1383 2921 1385 1385 2922 1387 1387 2923 1388 1388 2924 1388 1388 2925 1386 1386 2926 1385 1385 2927 1389 1389 2928 1390 1390 2929 1391 1391 2930 1391 1391 2931 1392 1392 2932 1389 1389 2933 1393 1393 2934 1394 1394 2935 1395 1395 2936 1395 1395 2937 1396 1396 2938 1393 1393 2939 1397 1397 2940 1398 1398 2941 1399 1399 2942 1399 1399 2943 1400 1400 2944 1397 1397 2945 1401 1401 2946 1402 1402 2947 1403 1403 2948 1403 1403 2949 1404 1404 2950 1401 1401 2951 1405 1405 2952 1406 1406 2953 1407 1407 2954 1407 1407 2955 1408 1408 2956 1405 1405 2957 1408 1408 2958 1409 1409 2959 1405 1405 2960 1408 1408 2961 1410 1410 2962 1409 1409 2963 1411 1411 2964 1412 1412 2965 1413 1413 2966 1413 1413 2967 1414 1414 2968 1411 1411 2969 1415 1415 2970 1416 1416 2971 1417 1417 2972 1417 1417 2973 1418 1418 2974 1415 1415 2975 1419 1419 2976 1420 1420 2977 1421 1421 2978 1421 1421 2979 1422 1422 2980 1419 1419 2981 1423 1423 2982 1419 1419 2983 1422 1422 2984 1422 1422 2985 1424 1424 2986 1423 1423 2987 1425 1425 2988 1423 1423 2989 1424 1424 2990 1424 1424 2991 1426 1426 2992 1425 1425 2993 1426 1426 2994 1427 1427 2995 1428 1428 2996 1428 1428 2997 1425 1425 2998 1426 1426 2999 1427 1427 3000 1429 1429 3001 1430 1430 3002 1430 1430 3003 1428 1428 3004 1427 1427 3005 1430 1430 3006 1429 1429 3007 1431 1431 3008 1431 1431 3009 1432 1432 3010 1430 1430 3011 1432 1432 3012 1431 1431 3013 1433 1433 3014 1433 1433 3015 1434 1434 3016 1432 1432 3017 1434 1434 3018 1433 1433 3019 1435 1435 3020 1435 1435 3021 1436 1436 3022 1434 1434 3023 1436 1436 3024 1435 1435 3025 1437 1437 3026 1437 1437 3027 1438 1438 3028 1436 1436 3029 1437 1437 3030 1439 1439 3031 1440 1440 3032 1440 1440 3033 1438 1438 3034 1437 1437 3035 1439 1439 3036 1441 1441 3037 1442 1442 3038 1442 1442 3039 1440 1440 3040 1439 1439 3041 1441 1441 3042 1443 1443 3043 1444 1444 3044 1444 1444 3045 1442 1442 3046 1441 1441 3047 1445 1445 3048 1446 1446 3049 1447 1447 3050 1447 1447 3051 1448 1448 3052 1445 1445 3053 1449 1449 3054 1450 889 3055 1451 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diff --git a/CustomRobots/f1/models/simple_circuit/meshes/pared.mtl b/CustomRobots/f1/models/simple_circuit/meshes/pared.mtl
new file mode 100644
index 000000000..22c06941b
--- /dev/null
+++ b/CustomRobots/f1/models/simple_circuit/meshes/pared.mtl
@@ -0,0 +1,77 @@
+# Blender 4.5.3 LTS MTL File: 'Untitled.blend'
+# www.blender.org
+
+newmtl Bricks
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.200000
+d 1.000000
+illum 3
+Pr 0.102857
+Pm 0.062857
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+aniso 0.000000
+anisor 0.000000
+
+newmtl Color_M00
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+aniso 0.000000
+anisor 0.000000
+
+newmtl Material3_1
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+aniso 0.000000
+anisor 0.000000
+
+newmtl ___0
+Kd 0.640000 0.640000 0.640000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+aniso 0.000000
+anisor 0.000000
+
+newmtl material
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+aniso 0.000000
+anisor 0.000000
diff --git a/CustomRobots/f1/models/simple_circuit/meshes/pared.obj b/CustomRobots/f1/models/simple_circuit/meshes/pared.obj
new file mode 100644
index 000000000..3f8ae544a
--- /dev/null
+++ b/CustomRobots/f1/models/simple_circuit/meshes/pared.obj
@@ -0,0 +1,2439 @@
+# Blender 4.5.3 LTS
+# www.blender.org
+mtllib pared.mtl
+o SketchUp
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diff --git a/CustomRobots/f1/models/simple_circuit/meshes/simple_line.dae b/CustomRobots/f1/models/simple_circuit/meshes/simple_line.dae
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index e97da403a..e298d954e
--- a/CustomRobots/f1/models/simple_circuit/meshes/simple_line.dae
+++ b/CustomRobots/f1/models/simple_circuit/meshes/simple_line.dae
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2257 3837 2257 3838 2257 3838 2258 3837 2258 3839 2258 3838 1 3839 1 3840 1 3840 1 3839 1 3841 1 3840 1 3841 1 3842 1 3842 2259 3841 2259 3843 2259 3842 1 3843 1 3844 1 3844 2260 3843 2260 3845 2260 3844 2261 3845 2261 3846 2261 3846 2262 3845 2262 3847 2262 3846 1 3847 1 3848 1 3848 2263 3847 2263 3849 2263 3848 1 3849 1 3850 1 3850 2264 3849 2264 3851 2264 3850 1 3851 1 3852 1 3852 1 3851 1 3853 1 3852 1 3853 1 3854 1 3854 2265 3853 2265 3855 2265 3854 2266 3855 2266 3856 2266 3854 2267 3856 2267 3857 2267 3857 2268 3856 2268 3858 2268 3857 1 3858 1 3859 1 3859 1 3858 1 3860 1 3859 1 3860 1 3861 1 3861 2269 3860 2269 3862 2269 3861 1 3862 1 3863 1 3863 2270 3862 2270 3864 2270 3863 1 3864 1 3865 1 3865 1 3864 1 3866 1 3865 2271 3866 2271 3867 2271 3867 1 3866 1 3868 1 3867 1 3868 1 3869 1 3869 2272 3868 2272 3870 2272 3869 1 3870 1 3871 1 3871 1 3870 1 3872 1 3871 2273 3872 2273 3873 2273 3873 2274 3872 2274 3874 2274 3873 1 3874 1 3875 1 3875 2275 3874 2275 3876 2275 3875 1 3876 1 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+        <instance_light url="#Light-light"/>
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+</COLLADA>
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diff --git a/CustomRobots/f1/models/simple_circuit/meshes/simple_line.mtl b/CustomRobots/f1/models/simple_circuit/meshes/simple_line.mtl
new file mode 100644
index 000000000..f60bc8fae
--- /dev/null
+++ b/CustomRobots/f1/models/simple_circuit/meshes/simple_line.mtl
@@ -0,0 +1,72 @@
+# Blender 4.5.3 LTS MTL File: 'None'
+# www.blender.org
+
+newmtl Asphalt_New
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+map_Kd Asphalt_New.jpg
+
+newmtl Color_A01
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl Color_M02
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+Ka 1.000000 1.000000 1.000000
+Kd 0.776471 0.776471 0.776471
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl Color_M03
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+Ka 1.000000 1.000000 1.000000
+Kd 0.666667 0.666667 0.666667
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl Grass_Light_Green
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+Ka 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+map_Kd Grass_Light_Green.jpg
+
+newmtl edge_color198198198255
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl edge_color25500255
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
diff --git a/CustomRobots/f1/models/simple_circuit/meshes/simple_line.obj b/CustomRobots/f1/models/simple_circuit/meshes/simple_line.obj
new file mode 100644
index 000000000..1508b1d7a
--- /dev/null
+++ b/CustomRobots/f1/models/simple_circuit/meshes/simple_line.obj
@@ -0,0 +1,24845 @@
+# Blender 4.5.3 LTS
+# www.blender.org
+mtllib simple_line.mtl
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+v 39.673275 0.002100 -48.455299
+v 39.729099 0.002100 -48.455124
+v 39.729099 0.002100 -48.455124
+v 39.673275 0.002100 -48.455299
+v 39.784931 0.002100 -48.454514
+v 39.617443 0.002100 -48.455025
+v 39.579494 0.002100 -48.454514
+vn -0.0000 -1.0000 -0.0000
+vn -0.0000 1.0000 -0.0000
+s 0
+usemtl Color_M02
+f 11776//147 11777//147 11778//147
+f 11777//147 11776//147 11779//147
+f 11777//147 11779//147 11780//147
+f 11781//148 11782//148 11783//148
+f 11782//148 11784//148 11783//148
+f 11785//148 11783//148 11784//148
+o group_0.036
+v -6.451168 0.002100 32.905209
+v -6.451168 0.002100 32.902542
+l 11787 11786
+o group_0.037
+v 46.468670 0.002100 -48.454514
+v 46.475300 0.002100 -48.454514
+l 11789 11788
+o group_0.038
+v -6.451168 0.002082 32.905609
+v -6.451042 0.002091 32.905609
+l 11791 11790
diff --git a/CustomRobots/f1/models/simple_circuit/model.sdf b/CustomRobots/f1/models/simple_circuit/model.sdf
index b80b1b2fb..2c85ac2b2 100755
--- a/CustomRobots/f1/models/simple_circuit/model.sdf
+++ b/CustomRobots/f1/models/simple_circuit/model.sdf
@@ -26,18 +26,18 @@
             <collision name="collision">
                <geometry>
                     <mesh>
-                        <uri>model://simple_circuit/meshes/pared.dae</uri>
+                        <uri>model://simple_circuit/meshes/pared.stl</uri>
                     </mesh>
                 </geometry>
             </collision>
-            <visual name="visual">
+	        <visual name="visual">
                 <pose>0 0 0 0 0 0</pose>
                 <geometry>
                     <mesh>
-                        <uri>model://simple_circuit/meshes/pared.dae</uri>
+                        <uri>model://simple_circuit/meshes/pared.stl</uri>
                     </mesh>
                 </geometry>
-            </visual>    
+            </visual>
 	    </link>
     </model>
 </sdf>
diff --git a/CustomRobots/f1/params/f1_renault_ackermann_harmonic_laser.yaml b/CustomRobots/f1/params/f1_renault_ackermann_harmonic_laser.yaml
new file mode 100644
index 000000000..38781ecc6
--- /dev/null
+++ b/CustomRobots/f1/params/f1_renault_ackermann_harmonic_laser.yaml
@@ -0,0 +1,20 @@
+# gz topic published by DiffDrive plugin
+- ros_topic_name: "odom"
+  gz_topic_name: "/model/f1_renault_ackermann_harmonic_laser/odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+
+# gz topic subscribed to by DiffDrive plugin
+- ros_topic_name: "cmd_vel"
+  gz_topic_name: "/model/f1_renault_ackermann_harmonic_laser/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+# gz topic published by Sensors plugin (Camera)
+- ros_topic_name: "/cam_f1_left/camera_info"
+  gz_topic_name: "/cam_f1_left/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
\ No newline at end of file
diff --git a/CustomRobots/f1/params/f1_renault_laser_no_cam.yaml b/CustomRobots/f1/params/f1_renault_laser_no_cam.yaml
new file mode 100644
index 000000000..5c7fd9e43
--- /dev/null
+++ b/CustomRobots/f1/params/f1_renault_laser_no_cam.yaml
@@ -0,0 +1,20 @@
+# gz topic published by DiffDrive plugin
+- ros_topic_name: "odom"
+  gz_topic_name: "F1ROS/odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+
+# gz topic subscribed to by DiffDrive plugin
+- ros_topic_name: "cmd_vel"
+  gz_topic_name: "/F1ROS/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
+
+# gz topic published by Sensors plugin (Camera)
+- ros_topic_name: "/cam_f1_left/camera_info"
+  gz_topic_name: "/cam_f1_left/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
\ No newline at end of file
diff --git a/Launchers/marker_visual_loc.launch.py b/Launchers/marker_visual_loc.launch.py
index bac40bdd4..e2a54d79f 100644
--- a/Launchers/marker_visual_loc.launch.py
+++ b/Launchers/marker_visual_loc.launch.py
@@ -37,7 +37,7 @@ def generate_launch_description():
     x_pose = LaunchConfiguration("x_pose", default="1.0")
     y_pose = LaunchConfiguration("y_pose", default="-1.5")
     z_pose = LaunchConfiguration("z_pose", default="7.1")
-    world_file_name = "marker_visual_loc.world"
+    world_file_name = "laser_mapping.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
diff --git a/Launchers/monaco_circuit.launch.py b/Launchers/monaco_circuit.launch.py
index 9be09dbf1..d258db154 100644
--- a/Launchers/monaco_circuit.launch.py
+++ b/Launchers/monaco_circuit.launch.py
@@ -36,7 +36,7 @@ def generate_launch_description():
     x_pose = LaunchConfiguration("x_pose", default="1.0")
     y_pose = LaunchConfiguration("y_pose", default="-1.5")
     z_pose = LaunchConfiguration("z_pose", default="7.1")
-    world_file_name = "monaco_circuit.world"
+    world_file_name = "monaco_line.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
@@ -62,12 +62,12 @@ def generate_launch_description():
 
     declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    robot_state_publisher_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
-        ),
-        launch_arguments={"use_sim_time": use_sim_time}.items(),
-    )
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
 
     spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -99,7 +99,7 @@ def generate_launch_description():
     ld.add_action(declare_pitch_cmd)
     ld.add_action(declare_yaw_cmd)
     ld.add_action(world_entity_cmd)
-    ld.add_action(robot_state_publisher_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
\ No newline at end of file
diff --git a/Launchers/monaco_circuit/spawn_robot.launch.py b/Launchers/monaco_circuit/spawn_robot.launch.py
index 5cf708d02..7f3e18672 100644
--- a/Launchers/monaco_circuit/spawn_robot.launch.py
+++ b/Launchers/monaco_circuit/spawn_robot.launch.py
@@ -23,7 +23,7 @@
 
 def generate_launch_description():
     # Get the urdf file
-    model_folder = "turtlebot3_waffle"
+    model_folder = "f1_renault_laser_no_cam"
     urdf_path = os.path.join(
         get_package_share_directory("custom_robots"),
         "models",
@@ -63,7 +63,7 @@ def generate_launch_description():
     # )
 
     bridge_params = os.path.join(
-        get_package_share_directory("custom_robots"), "params", "robot_params.yaml"
+        get_package_share_directory("custom_robots"), "params", "f1_renault_laser_no_cam.yaml"
     )
 
     start_gazebo_ros_bridge_cmd = Node(
@@ -80,16 +80,16 @@ def generate_launch_description():
     start_gazebo_ros_image_bridge_cmd = Node(
         package="ros_gz_image",
         executable="image_bridge",
-        arguments=["/turtlebot3/camera/image_raw"],
+        arguments=["/cam_f1_left/image_raw"],
         output="screen",
     )
 
-    start_gazebo_ros_depth_bridge_cmd = Node(
-        package="ros_gz_image",
-        executable="image_bridge",
-        arguments=["/turtlebot3/camera/depth"],
-        output="screen",
-    )
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
 
     ld = LaunchDescription()
 
@@ -102,6 +102,6 @@ def generate_launch_description():
     # ld.add_action(start_gazebo_ros_spawner_cmd)
     ld.add_action(start_gazebo_ros_bridge_cmd)
     ld.add_action(start_gazebo_ros_image_bridge_cmd)
-    ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
 
-    return ld
+    return ld
\ No newline at end of file
diff --git a/Launchers/monaco_circuit_ackermann.launch.py b/Launchers/monaco_circuit_ackermann.launch.py
new file mode 100644
index 000000000..e6ea6e222
--- /dev/null
+++ b/Launchers/monaco_circuit_ackermann.launch.py
@@ -0,0 +1,105 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
+
+    robot_launch_dir = "/opt/jderobot/Launchers/monaco_circuit_ackermann"
+
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
+    world_file_name = "monaco_line_ackermann.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
+
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
+
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
+
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
+
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
+
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        ),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/monaco_circuit_ackermann/spawn_robot.launch.py b/Launchers/monaco_circuit_ackermann/spawn_robot.launch.py
new file mode 100644
index 000000000..8eb57bdd2
--- /dev/null
+++ b/Launchers/monaco_circuit_ackermann/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_ackermann_harmonic_laser"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_ackermann_harmonic_laser.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/monaco_circuit_fernando.launch.py b/Launchers/monaco_circuit_fernando.launch.py
new file mode 100644
index 000000000..9be09dbf1
--- /dev/null
+++ b/Launchers/monaco_circuit_fernando.launch.py
@@ -0,0 +1,105 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
+
+    robot_launch_dir = "/opt/jderobot/Launchers/monaco_circuit"
+
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
+    world_file_name = "monaco_circuit.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
+
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
+
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
+
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
+
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+        ),
+        launch_arguments={"use_sim_time": use_sim_time}.items(),
+    )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        ),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
diff --git a/Launchers/monaco_circuit/robot_state_publisher.launch.py b/Launchers/monaco_circuit_fernando/robot_state_publisher.launch.py
similarity index 100%
rename from Launchers/monaco_circuit/robot_state_publisher.launch.py
rename to Launchers/monaco_circuit_fernando/robot_state_publisher.launch.py
diff --git a/Launchers/monaco_circuit_fernando/spawn_robot.launch.py b/Launchers/monaco_circuit_fernando/spawn_robot.launch.py
new file mode 100644
index 000000000..5cf708d02
--- /dev/null
+++ b/Launchers/monaco_circuit_fernando/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "turtlebot3_waffle"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "robot_params.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/turtlebot3/camera/image_raw"],
+        output="screen",
+    )
+
+    start_gazebo_ros_depth_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/turtlebot3/camera/depth"],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
diff --git a/Launchers/montmelo_circuit.launch.py b/Launchers/montmelo_circuit.launch.py
index 9b66fb26c..f744e3e9e 100755
--- a/Launchers/montmelo_circuit.launch.py
+++ b/Launchers/montmelo_circuit.launch.py
@@ -1,84 +1,105 @@
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to this package.
-    pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/montmelo_circuit"
 
-    # Set the path to the world file
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
     world_file_name = "montmelo_line.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files.
-    gazebo_models_path = os.path.join(pkg_share, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    # Specify the actions
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld = LaunchDescription()
 
-    return ld
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/montmelo_circuit/spawn_robot.launch.py b/Launchers/montmelo_circuit/spawn_robot.launch.py
new file mode 100644
index 000000000..7f3e18672
--- /dev/null
+++ b/Launchers/montmelo_circuit/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_laser_no_cam"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_laser_no_cam.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/montmelo_circuit_ackermann.launch.py b/Launchers/montmelo_circuit_ackermann.launch.py
index 834bf8595..942a9342c 100755
--- a/Launchers/montmelo_circuit_ackermann.launch.py
+++ b/Launchers/montmelo_circuit_ackermann.launch.py
@@ -1,84 +1,105 @@
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to this package.
-    pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/montmelo_circuit_ackermann"
 
-    # Set the path to the world file
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
     world_file_name = "montmelo_line_ackermann.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files.
-    gazebo_models_path = os.path.join(pkg_share, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    # Specify the actions
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld = LaunchDescription()
 
-    return ld
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/montmelo_circuit_ackermann/spawn_robot.launch.py b/Launchers/montmelo_circuit_ackermann/spawn_robot.launch.py
new file mode 100644
index 000000000..8eb57bdd2
--- /dev/null
+++ b/Launchers/montmelo_circuit_ackermann/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_ackermann_harmonic_laser"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_ackermann_harmonic_laser.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/montreal_circuit.launch.py b/Launchers/montreal_circuit.launch.py
index db272b819..bd8bc073a 100755
--- a/Launchers/montreal_circuit.launch.py
+++ b/Launchers/montreal_circuit.launch.py
@@ -1,84 +1,105 @@
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to this package.
-    pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/montreal_circuit"
 
-    # Set the path to the world file
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
     world_file_name = "montreal_line.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files.
-    gazebo_models_path = os.path.join(pkg_share, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    # Specify the actions
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld = LaunchDescription()
 
-    return ld
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/montreal_circuit/spawn_robot.launch.py b/Launchers/montreal_circuit/spawn_robot.launch.py
new file mode 100644
index 000000000..7f3e18672
--- /dev/null
+++ b/Launchers/montreal_circuit/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_laser_no_cam"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_laser_no_cam.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/montreal_circuit_ackermann.launch.py b/Launchers/montreal_circuit_ackermann.launch.py
index ad73b6cbe..6dea367e2 100755
--- a/Launchers/montreal_circuit_ackermann.launch.py
+++ b/Launchers/montreal_circuit_ackermann.launch.py
@@ -1,84 +1,105 @@
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to this package.
-    pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/montreal_circuit_ackermann"
 
-    # Set the path to the world file
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
     world_file_name = "montreal_line_ackermann.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files.
-    gazebo_models_path = os.path.join(pkg_share, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    # Specify the actions
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld = LaunchDescription()
 
-    return ld
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/montreal_circuit_ackermann/spawn_robot.launch.py b/Launchers/montreal_circuit_ackermann/spawn_robot.launch.py
new file mode 100644
index 000000000..8eb57bdd2
--- /dev/null
+++ b/Launchers/montreal_circuit_ackermann/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_ackermann_harmonic_laser"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_ackermann_harmonic_laser.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/nurburgring_circuit.launch.py b/Launchers/nurburgring_circuit.launch.py
index 6ddbc6941..ff7d5fa4b 100755
--- a/Launchers/nurburgring_circuit.launch.py
+++ b/Launchers/nurburgring_circuit.launch.py
@@ -1,84 +1,105 @@
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to this package.
-    pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/nurburgring_circuit"
 
-    # Set the path to the world file
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
     world_file_name = "nurburgring_line.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files.
-    gazebo_models_path = os.path.join(pkg_share, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    # Specify the actions
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld = LaunchDescription()
 
-    return ld
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/nurburgring_circuit/spawn_robot.launch.py b/Launchers/nurburgring_circuit/spawn_robot.launch.py
new file mode 100644
index 000000000..7f3e18672
--- /dev/null
+++ b/Launchers/nurburgring_circuit/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_laser_no_cam"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_laser_no_cam.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/nurburgring_circuit_ackermann.launch.py b/Launchers/nurburgring_circuit_ackermann.launch.py
index 66e8b8cb2..d3c38f35b 100755
--- a/Launchers/nurburgring_circuit_ackermann.launch.py
+++ b/Launchers/nurburgring_circuit_ackermann.launch.py
@@ -1,84 +1,105 @@
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to this package.
-    pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/nurburgring_circuit_ackermann"
 
-    # Set the path to the world file
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
     world_file_name = "nurburgring_line_ackermann.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files.
-    gazebo_models_path = os.path.join(pkg_share, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    # Specify the actions
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld = LaunchDescription()
 
-    return ld
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/nurburgring_circuit_ackermann/spawn_robot.launch.py b/Launchers/nurburgring_circuit_ackermann/spawn_robot.launch.py
new file mode 100644
index 000000000..8eb57bdd2
--- /dev/null
+++ b/Launchers/nurburgring_circuit_ackermann/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_ackermann_harmonic_laser"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_ackermann_harmonic_laser.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/simple_circuit.launch.py b/Launchers/simple_circuit.launch.py
index 06613ecf5..74c248989 100755
--- a/Launchers/simple_circuit.launch.py
+++ b/Launchers/simple_circuit.launch.py
@@ -1,86 +1,105 @@
-"""Launch file for starting the simple circuit world in Gazebo with custom robots."""
-
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration
-from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    """Generate the launch description for starting the simple circuit world."""
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to this package.
-    pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/simple_circuit"
 
-    # Set the path to the world file
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
     world_file_name = "simple_circuit.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files.
-    gazebo_models_path = os.path.join(pkg_share, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    # Specify the actions
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld = LaunchDescription()
 
-    return ld
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/simple_circuit/spawn_robot.launch.py b/Launchers/simple_circuit/spawn_robot.launch.py
new file mode 100644
index 000000000..7f3e18672
--- /dev/null
+++ b/Launchers/simple_circuit/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_laser_no_cam"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_laser_no_cam.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/simple_circuit_ackermann.launch.py b/Launchers/simple_circuit_ackermann.launch.py
index 547f24676..a9d18770f 100755
--- a/Launchers/simple_circuit_ackermann.launch.py
+++ b/Launchers/simple_circuit_ackermann.launch.py
@@ -1,86 +1,105 @@
-"""Launch file for the simple circuit Ackermann simulation using Gazebo."""
-
 import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.conditions import IfCondition
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration
-from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    """Generate the launch description for the simple circuit Ackermann simulation."""
 
-    # Set the path to the Gazebo ROS package
-    pkg_gazebo_ros = FindPackageShare(package="gazebo_ros").find("gazebo_ros")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("R")
+    pitch = LaunchConfiguration("P")
+    yaw = LaunchConfiguration("Y")
+
+    package_dir = get_package_share_directory("custom_robots")
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    gazebo_models_path = os.path.join(package_dir, "models")
 
-    # Set the path to this package.
-    pkg_share = FindPackageShare(package="custom_robots").find("custom_robots")
+    robot_launch_dir = "/opt/jderobot/Launchers/simple_circuit_ackermann"
 
-    # Set the path to the world file
+    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
+    x_pose = LaunchConfiguration("x_pose", default="1.0")
+    y_pose = LaunchConfiguration("y_pose", default="-1.5")
+    z_pose = LaunchConfiguration("z_pose", default="7.1")
     world_file_name = "simple_circuit_ackermann.world"
     worlds_dir = "/opt/jderobot/Worlds"
     world_path = os.path.join(worlds_dir, world_file_name)
 
-    # Set the path to the SDF model files.
-    gazebo_models_path = os.path.join(pkg_share, "models")
-    os.environ["GAZEBO_MODEL_PATH"] = (
-        f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-r -s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
     )
 
-    ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############
-    # Launch configuration variables specific to simulation
-    headless = LaunchConfiguration("headless")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    use_simulator = LaunchConfiguration("use_simulator")
-    world = LaunchConfiguration("world")
-
-    declare_simulator_cmd = DeclareLaunchArgument(
-        name="headless",
-        default_value="False",
-        description="Whether to execute gzclient",
-    )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
 
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        name="use_sim_time",
-        default_value="true",
-        description="Use simulation (Gazebo) clock if true",
-    )
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
 
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        name="use_simulator",
-        default_value="True",
-        description="Whether to start the simulator",
-    )
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
 
-    declare_world_cmd = DeclareLaunchArgument(
-        name="world",
-        default_value=world_path,
-        description="Full path to the world model file to load",
-    )
+    declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
+
+    declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    # Specify the actions
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
 
-    # Start Gazebo server
-    start_gazebo_server_cmd = IncludeLaunchDescription(
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
+
+    spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
         ),
-        condition=IfCondition(use_simulator),
-        launch_arguments={"world": world}.items(),
+        launch_arguments={"x_pose": x_pose, "y_pose": y_pose, "z_pose": z_pose}.items(),
     )
 
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-    ld.add_action(declare_world_cmd)
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
 
-    # Add any actions
-    ld.add_action(start_gazebo_server_cmd)
+    ld = LaunchDescription()
 
-    return ld
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
+    set_env_vars_resources = AppendEnvironmentVariable(
+        "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
+    )
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gazebo_server)
+    # ld.add_action(gazebo_client)
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(world_entity_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_robot_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/simple_circuit_ackermann/spawn_robot.launch.py b/Launchers/simple_circuit_ackermann/spawn_robot.launch.py
new file mode 100644
index 000000000..8eb57bdd2
--- /dev/null
+++ b/Launchers/simple_circuit_ackermann/spawn_robot.launch.py
@@ -0,0 +1,107 @@
+# 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
+    model_folder = "f1_renault_ackermann_harmonic_laser"
+    urdf_path = os.path.join(
+        get_package_share_directory("custom_robots"),
+        "models",
+        model_folder,
+        "model.sdf",
+    )
+
+    # Launch configuration variables specific to simulation
+    # x_pose = LaunchConfiguration('x_pose', default='1.0')
+    # y_pose = LaunchConfiguration('y_pose', default='-1.5')
+    # z_pose = LaunchConfiguration('z_pose', default='7.1')
+
+    # Declare the launch arguments
+    # declare_x_position_cmd = DeclareLaunchArgument(
+    #     'x_pose', default_value='1.0',
+    #     description='Specify namespace of the robot')
+
+    # declare_y_position_cmd = DeclareLaunchArgument(
+    #     'y_pose', default_value='-1.5',
+    #     description='Specify namespace of the robot')
+
+    # declare_z_position_cmd = DeclareLaunchArgument(
+    #     'z_pose', default_value='7.1',
+    #     description='Specify namespace of the robot')
+
+    # start_gazebo_ros_spawner_cmd = Node(
+    #     package='ros_gz_sim',
+    #     executable='create',
+    #     arguments=[
+    #         '-name', 'waffle',
+    #         '-file', urdf_path,
+    #         '-x', x_pose,
+    #         '-y', y_pose,
+    #         '-z', z_pose
+    #     ],
+    #     output='screen',
+    # )
+
+    bridge_params = os.path.join(
+        get_package_share_directory("custom_robots"), "params", "f1_renault_ackermann_harmonic_laser.yaml"
+    )
+
+    start_gazebo_ros_bridge_cmd = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "--ros-args",
+            "-p",
+            f"config_file:={bridge_params}",
+        ],
+        output="screen",
+    )
+
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/cam_f1_left/image_raw"],
+        output="screen",
+    )
+
+    # start_gazebo_ros_depth_bridge_cmd = Node(
+    #     package="ros_gz_image",
+    #     executable="image_bridge",
+    #     arguments=["/turtlebot3/camera/depth"],
+    #     output="screen",
+    # )
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    # ld.add_action(declare_x_position_cmd)
+    # ld.add_action(declare_y_position_cmd)
+    # ld.add_action(declare_z_position_cmd)
+
+    # Add any conditioned actions
+    # ld.add_action(start_gazebo_ros_spawner_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
+
+    return ld
\ No newline at end of file
diff --git a/Launchers/spa_circuit.launch.py b/Launchers/spa_circuit.launch.py
index 0395150b6..dd5656cd2 100644
--- a/Launchers/spa_circuit.launch.py
+++ b/Launchers/spa_circuit.launch.py
@@ -49,25 +49,24 @@ def generate_launch_description():
             "on_exit_shutdown": "true",
         }.items(),
     )
+    declare_x_cmd = DeclareLaunchArgument("x", default_value="146")
 
-    declare_x_cmd = DeclareLaunchArgument("x", default_value="1.0")
+    declare_y_cmd = DeclareLaunchArgument("y", default_value="60")
 
-    declare_y_cmd = DeclareLaunchArgument("y", default_value="-1.5")
-
-    declare_z_cmd = DeclareLaunchArgument("z", default_value="7.1")
+    declare_z_cmd = DeclareLaunchArgument("z", default_value="-593.20")
 
     declare_roll_cmd = DeclareLaunchArgument("R", default_value="0.0")
 
     declare_pitch_cmd = DeclareLaunchArgument("P", default_value="0.0")
 
-    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="1.57079")
+    declare_yaw_cmd = DeclareLaunchArgument("Y", default_value="0.0")
 
-    robot_state_publisher_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
-        ),
-        launch_arguments={"use_sim_time": use_sim_time}.items(),
-    )
+    # robot_state_publisher_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(robot_launch_dir, "robot_state_publisher.launch.py")
+    #     ),
+    #     launch_arguments={"use_sim_time": use_sim_time}.items(),
+    # )
 
     spawn_robot_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -99,7 +98,7 @@ def generate_launch_description():
     ld.add_action(declare_pitch_cmd)
     ld.add_action(declare_yaw_cmd)
     ld.add_action(world_entity_cmd)
-    ld.add_action(robot_state_publisher_cmd)
+    # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
     return ld
diff --git a/Launchers/spa_circuit/robot_state_publisher.launch.py b/Launchers/spa_circuit/robot_state_publisher.launch.py
index 731207c12..4df7f568c 100644
--- a/Launchers/spa_circuit/robot_state_publisher.launch.py
+++ b/Launchers/spa_circuit/robot_state_publisher.launch.py
@@ -27,7 +27,7 @@
 
 def generate_launch_description():
     use_sim_time = LaunchConfiguration("use_sim_time", default="true")
-    urdf_file_name = "turtlebot3_waffle.urdf"
+    urdf_file_name = "/model/f1_renault_ackermann_harmonic_laser.urdf"
 
     print("urdf_file_name : {}".format(urdf_file_name))
 
diff --git a/Launchers/spa_circuit/spawn_robot.launch.py b/Launchers/spa_circuit/spawn_robot.launch.py
index 5cf708d02..a38b46c38 100644
--- a/Launchers/spa_circuit/spawn_robot.launch.py
+++ b/Launchers/spa_circuit/spawn_robot.launch.py
@@ -63,7 +63,7 @@ def generate_launch_description():
     # )
 
     bridge_params = os.path.join(
-        get_package_share_directory("custom_robots"), "params", "robot_params.yaml"
+        get_package_share_directory("custom_robots"), "params", "f1_renault_ackermann_harmonic_laser.yaml"
     )
 
     start_gazebo_ros_bridge_cmd = Node(
@@ -80,14 +80,7 @@ def generate_launch_description():
     start_gazebo_ros_image_bridge_cmd = Node(
         package="ros_gz_image",
         executable="image_bridge",
-        arguments=["/turtlebot3/camera/image_raw"],
-        output="screen",
-    )
-
-    start_gazebo_ros_depth_bridge_cmd = Node(
-        package="ros_gz_image",
-        executable="image_bridge",
-        arguments=["/turtlebot3/camera/depth"],
+        arguments=["/model/f1_renault_ackermann_harmonic_laser/camera/image_raw"],
         output="screen",
     )
 
@@ -102,6 +95,5 @@ def generate_launch_description():
     # ld.add_action(start_gazebo_ros_spawner_cmd)
     ld.add_action(start_gazebo_ros_bridge_cmd)
     ld.add_action(start_gazebo_ros_image_bridge_cmd)
-    ld.add_action(start_gazebo_ros_depth_bridge_cmd)
 
     return ld
diff --git a/Launchers/visualization/follow_line.config b/Launchers/visualization/follow_line.config
new file mode 100644
index 000000000..90a1d60ab
--- /dev/null
+++ b/Launchers/visualization/follow_line.config
@@ -0,0 +1 @@
+...
\ No newline at end of file
diff --git a/Worlds/monaco_line.world b/Worlds/monaco_line.world
new file mode 100644
index 000000000..f3d7fb3e8
--- /dev/null
+++ b/Worlds/monaco_line.world
@@ -0,0 +1,70 @@
+<?xml version="1.0" ?>
+<sdf version="1.10">
+  <world name="default">
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
+      <camera name='user_camera'>
+        <pose >30.18 -31.55 0.50 0.00 0.01 -3.12</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+    <scene>
+      <grid>false</grid>
+      <sky>
+        <clouds>
+          <speed>12</speed>
+        </clouds>
+      </sky>
+    </scene> -->
+
+    <!-- <include>
+      <uri>model://sun</uri>
+      <name>sun_1</name>
+      <pose>0 0 1 0 0 0</pose>
+    </include> -->
+
+    <!-- Circuito -->
+    <include>
+	    <uri>model://monaco</uri>
+	    <pose>0 0 0 0 0 0</pose>
+    </include>
+
+    <!-- Coche -->
+    <include>
+      <uri>model://f1_renault_laser_no_cam</uri>
+      <pose>0 57 -9.1 0 0 0</pose>
+    </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
+  </world>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/monaco_line_ackermann.world b/Worlds/monaco_line_ackermann.world
new file mode 100644
index 000000000..c38cd9983
--- /dev/null
+++ b/Worlds/monaco_line_ackermann.world
@@ -0,0 +1,70 @@
+<?xml version="1.0" ?>
+<sdf version="1.10">
+  <world name="default">
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
+      <camera name='user_camera'>
+        <pose>134.98 -157.93 1.7 0.00 0.16 3.132</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+    <scene>
+      <grid>false</grid>
+      <sky>
+        <clouds>
+          <speed>12</speed>
+        </clouds>
+      </sky>
+    </scene> -->
+
+    <!-- <include>
+      <uri>model://sun</uri>
+      <name>sun_1</name>
+      <pose>0 0 1 0 0 0</pose>
+    </include> -->
+
+    <!-- Circuito -->
+    <include>
+	    <uri>model://monaco</uri>
+	    <pose>0 0 0 0 0 0</pose>
+    </include>
+
+    <!-- Coche -->
+    <include>
+      <uri>model://f1_renault_ackermann_harmonic_laser</uri>
+      <pose>0 57 -9.1 0 0 -1.57</pose>
+    </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
+  </world>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/montmelo_line.world b/Worlds/montmelo_line.world
index d7050dc59..a9f8b0437 100755
--- a/Worlds/montmelo_line.world
+++ b/Worlds/montmelo_line.world
@@ -1,7 +1,29 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.10">
   <world name="default">
-    <gui fullscreen='1'>
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
       <camera name='user_camera'>
         <pose >30.18 -31.55 0.50 0.00 0.01 -3.12</pose>
         <view_controller>orbit</view_controller>
@@ -15,20 +37,34 @@
           <speed>12</speed>
         </clouds>
       </sky>
-    </scene>
-    <!-- A global light source -->
-    <include>
+    </scene> -->
+
+    <!-- <include>
       <uri>model://sun</uri>
       <name>sun_1</name>
       <pose>0 0 1 0 0 0</pose>
-    </include>
+    </include> -->
+
+    <!-- Circuito -->
     <include>
 	    <uri>model://montmelo_line</uri>
 	    <pose>0 0 0 0 0 0</pose>
     </include>
+
+    <!-- Coche -->
     <include>
-      <uri>model://f1_renault</uri>
+      <uri>model://f1_renault_laser_no_cam</uri>
       <pose>27.18 -31.55 0.00 0.00 0.01 -3.12</pose>
     </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/montmelo_line_ackermann.world b/Worlds/montmelo_line_ackermann.world
index 39ed3e10f..e6f1c700c 100755
--- a/Worlds/montmelo_line_ackermann.world
+++ b/Worlds/montmelo_line_ackermann.world
@@ -1,7 +1,29 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.10">
   <world name="default">
-    <gui fullscreen='1'>
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
       <camera name='user_camera'>
         <pose>134.98 -157.93 1.7 0.00 0.16 3.132</pose>
         <view_controller>orbit</view_controller>
@@ -15,20 +37,34 @@
           <speed>12</speed>
         </clouds>
       </sky>
-    </scene>
-    <!-- A global light source -->
-    <include>
+    </scene> -->
+
+    <!-- <include>
       <uri>model://sun</uri>
       <name>sun_1</name>
       <pose>0 0 1 0 0 0</pose>
-    </include>
+    </include> -->
+
+    <!-- Circuito -->
     <include>
-	    <uri>model://big_montmelo_line</uri>
+	    <uri>model://montmelo_line</uri>
 	    <pose>0 0 0 0 0 0</pose>
     </include>
+
+    <!-- Coche -->
     <include>
-      <uri>model://f1_renault_camera</uri>
-      <pose>134.98 -157.93 0.026 0 0 1.56</pose>
+      <uri>model://f1_renault_ackermann_harmonic_laser</uri>
+      <pose>27.18 -31.55 0.00 0 0 1.56</pose>
     </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/montreal_line.world b/Worlds/montreal_line.world
index ddabbff1a..2901c6295 100755
--- a/Worlds/montreal_line.world
+++ b/Worlds/montreal_line.world
@@ -1,7 +1,29 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.10">
   <world name="default">
-    <gui fullscreen='1'>
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
       <camera name='user_camera'>
         <pose >-194.14 -90.29 1.90 0.00 0.21 3.13</pose>
         <view_controller>orbit</view_controller>
@@ -15,20 +37,34 @@
           <speed>12</speed>
         </clouds>
       </sky>
-    </scene>
-    <!-- A global light source -->
-    <include>
+    </scene> -->
+
+    <!-- <include>
       <uri>model://sun</uri>
       <name>sun_1</name>
       <pose>0 0 1 0 0 0</pose>
-    </include>
+    </include> -->
+
+    <!-- Circuito -->
     <include>
 	    <uri>model://montreal_line</uri>
 	    <pose>0 0 0 0 0 0</pose>
     </include>
+
+    <!-- Coche -->
     <include>
-      <uri>model://f1_renault</uri>
+      <uri>model://f1_renault_laser_no_cam</uri>
       <pose>-200.88 -90.72 0.00 0.00 0.00 -2.83</pose>
     </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/montreal_line_ackermann.world b/Worlds/montreal_line_ackermann.world
index cfdfce4fc..1413d4fd7 100755
--- a/Worlds/montreal_line_ackermann.world
+++ b/Worlds/montreal_line_ackermann.world
@@ -1,7 +1,29 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.10">
   <world name="default">
-    <gui fullscreen='1'>
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
       <camera name='user_camera'>
         <pose>-1005.67 -454.14 1.363872 0.00 0.1 -2.831999</pose>
         <view_controller>orbit</view_controller>
@@ -15,20 +37,34 @@
           <speed>12</speed>
         </clouds>
       </sky>
-    </scene>
-    <!-- A global light source -->
-    <include>
+    </scene> -->
+
+    <!-- <include>
       <uri>model://sun</uri>
       <name>sun_1</name>
       <pose>0 0 1 0 0 0</pose>
-    </include>
+    </include> -->
+
+    <!-- Circuito -->
     <include>
-	    <uri>model://big_montreal_line</uri>
+	    <uri>model://montreal_line</uri>
 	    <pose>0 0 0 0 0 0</pose>
     </include>
+
+    <!-- Coche -->
     <include>
-      <uri>model://f1_renault_camera</uri>
-      <pose>-1005.67 -454.14 0.00 0.00 0.00 1.87</pose>
+      <uri>model://f1_renault_ackermann_harmonic_laser</uri>
+      <pose>-200.88 -90.72 0.00 0.00 0.00 1.87</pose>
     </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/nurburgring_line.world b/Worlds/nurburgring_line.world
index f1033e1fc..a51d920ff 100755
--- a/Worlds/nurburgring_line.world
+++ b/Worlds/nurburgring_line.world
@@ -1,7 +1,29 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.10">
   <world name="default">
-    <gui fullscreen='1'>
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
       <camera name='user_camera'>
         <pose >-78.70 39.10 1.32 0.00 0.21 -0.37</pose>
         <view_controller>orbit</view_controller>
@@ -15,20 +37,34 @@
           <speed>12</speed>
         </clouds>
       </sky>
-    </scene>
-    <!-- A global light source -->
-    <include>
+    </scene> -->
+
+    <!-- <include>
       <uri>model://sun</uri>
       <name>sun_1</name>
       <pose>0 0 1 0 0 0</pose>
-    </include>
+    </include> -->
+
+    <!-- Circuito -->
     <include>
 	    <uri>model://nurburgring_line</uri>
 	    <pose>0 0 0 0 0 0</pose>
     </include>
+
+    <!-- Coche -->
     <include>
-      <uri>model://f1_renault</uri>
+      <uri>model://f1_renault_laser_no_cam</uri>
       <pose>-74.29 37.74 0 0 0 -0.51</pose>
     </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/nurburgring_line_ackermann.world b/Worlds/nurburgring_line_ackermann.world
index 5e55fe952..e9e29a9db 100755
--- a/Worlds/nurburgring_line_ackermann.world
+++ b/Worlds/nurburgring_line_ackermann.world
@@ -1,7 +1,29 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.10">
   <world name="default">
-    <gui fullscreen='1'>
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
       <camera name='user_camera'>
         <pose>-372.48 189.37 1.9 0 0.14 -0.39</pose>
         <view_controller>orbit</view_controller>
@@ -15,20 +37,34 @@
           <speed>12</speed>
         </clouds>
       </sky>
-    </scene>
-    <!-- A global light source -->
-    <include>
+    </scene> -->
+
+    <!-- <include>
       <uri>model://sun</uri>
       <name>sun_1</name>
       <pose>0 0 1 0 0 0</pose>
-    </include>
+    </include> -->
+
+    <!-- Circuito -->
     <include>
-	    <uri>model://big_nurburgring_line</uri>
+	    <uri>model://nurburgring_line</uri>
 	    <pose>0 0 0 0 0 0</pose>
     </include>
+
+    <!-- Coche -->
     <include>
-      <uri>model://f1_renault_camera</uri>
-      <pose>-372.48 189.37 0.0269 0 0 -2.115</pose>
+      <uri>model://f1_renault_ackermann_harmonic_laser</uri>
+      <pose>-74.29 37.74 0 0 0 -2.115</pose>
     </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/simple_circuit.world b/Worlds/simple_circuit.world
index 56de65be6..253ce5cb3 100755
--- a/Worlds/simple_circuit.world
+++ b/Worlds/simple_circuit.world
@@ -1,7 +1,29 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.10">
   <world name="default">
-    <gui fullscreen='1'>
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
       <camera name='user_camera'>
         <pose >54.53 -6.12 1.35 0 0.31 -1.92</pose>
         <view_controller>orbit</view_controller>
@@ -15,20 +37,34 @@
           <speed>12</speed>
         </clouds>
       </sky>
-    </scene>
-    <!-- A global light source -->
-    <include>
+    </scene> -->
+
+    <!-- <include>
       <uri>model://sun</uri>
       <name>sun_1</name>
       <pose>0 0 1 0 0 0</pose>
-    </include>
+    </include> -->
+
+    <!-- Circuito -->
     <include>
 	    <uri>model://simple_circuit</uri>
 	    <pose>0 0 0 0 0 0</pose>
     </include>
+
+    <!-- Coche -->
     <include>
-      <uri>model://f1_renault</uri>
+      <uri>model://f1_renault_laser_no_cam</uri>
       <pose>53.462 -10.734 0.004 0 0 -1.57</pose>
     </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/simple_circuit_ackermann.world b/Worlds/simple_circuit_ackermann.world
index 16f9d357c..799f1bc0b 100644
--- a/Worlds/simple_circuit_ackermann.world
+++ b/Worlds/simple_circuit_ackermann.world
@@ -1,7 +1,29 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.10">
   <world name="default">
-    <gui fullscreen='1'>
+
+    <plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system"/>
+    <plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system"/>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <gravity>0 0 -9.8</gravity>
+    <atmosphere type="adiabatic"/>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <!-- <gui fullscreen='1'>
       <camera name='user_camera'>
         <pose>267.42 -52.384 1.65 0 0.31 -1.53</pose>
         <view_controller>orbit</view_controller>
@@ -15,20 +37,34 @@
           <speed>12</speed>
         </clouds>
       </sky>
-    </scene>
-    <!-- A global light source -->
-    <include>
+    </scene> -->
+
+    <!-- <include>
       <uri>model://sun</uri>
       <name>sun_1</name>
       <pose>0 0 1 0 0 0</pose>
-    </include>
+    </include> -->
+
+    <!-- Circuito -->
     <include>
-	    <uri>model://big_simple_circuit</uri>
+	    <uri>model://simple_circuit</uri>
 	    <pose>0 0 0 0 0 0</pose>
     </include>
+
+    <!-- Coche -->
     <include>
-      <uri>model://f1_renault_camera</uri>
-      <pose>267.42 -52.384 0.004 0 0 3.14159</pose>
+      <uri>model://f1_renault_ackermann_harmonic_laser</uri>
+      <pose>53.462 -10.734 0.004 0 0 3.14159</pose>
     </include>
+
+    <!-- Luz -->
+    <light name="sun" type="directional">
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+      <cast_shadows>true</cast_shadows>
+    </light>
+
   </world>
-</sdf>
+</sdf>
\ No newline at end of file
diff --git a/Worlds/spa_circuit.world b/Worlds/spa_circuit.world
index 02317e1f9..0a5004842 100644
--- a/Worlds/spa_circuit.world
+++ b/Worlds/spa_circuit.world
@@ -59,9 +59,14 @@
 
     <!-- Robot -->
     <include>
-      <pose>1 -1.5 -9990 0 0 0</pose>
-      <name>turtlebot3_waffle</name>
-      <uri>model://turtlebot3_waffle</uri>
+      <pose>146 60 -593.20 0 0 0.35</pose>
+      <name>f1_renault_ackermann_harmonic_laser</name>
+      <uri>model://f1_renault_ackermann_harmonic_laser</uri>
+    </include>
+    <include>
+      <pose>142 60 -597.20 0 0 0.35</pose>
+      <name>f1_renault_ackermann_harmonic_laser</name>
+      <uri>model://f1_renault_ackermann_harmonic_laser</uri>
     </include>
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/database/universes.sql b/database/universes.sql
index 52527d9b7..2c1d85e82 100644
--- a/database/universes.sql
+++ b/database/universes.sql
@@ -164,6 +164,9 @@ COPY public.universes (id, name, world_id, robot_id) FROM stdin;
 37	Tower Inspection World	37	0
 38	Industrial Machine Vision World	38	0
 39	Labyrinth Escape World	39	0
+40	Spa Circuit	40	0
+41 	Monaco Ackermann Circuit	41	0
+42 	Monaco Circuit	42	0
 \.
 
 
@@ -186,17 +189,17 @@ COPY public.worlds (id, name, launch_file_path, tools_config, ros_version, type,
 10	Follow Person	/opt/jderobot/Launchers/follow_person.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 11	Follow Person Teleop	/opt/jderobot/Launchers/follow_person_teleop.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 12	Laser Mapping Warehouse	/opt/jderobot/Launchers/laser_mapping.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/laser_mapping.config"}	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
-13	Montmelo Ackermann Circuit	/opt/jderobot/Launchers/montmelo_circuit_ackermann.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
-14	Montmelo Circuit	/opt/jderobot/Launchers/montmelo_circuit.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
-15	Montreal Ackermann Circuit	/opt/jderobot/Launchers/montreal_circuit_ackermann.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
-16	Montreal Circuit	/opt/jderobot/Launchers/montreal_circuit.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
-17	Nurburgring Ackermann Circuit	/opt/jderobot/Launchers/nurburgring_circuit_ackermann.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
-18	Nurburgring Circuit	/opt/jderobot/Launchers/nurburgring_circuit.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
+13	Montmelo Ackermann Circuit	/opt/jderobot/Launchers/montmelo_circuit_ackermann.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+14	Montmelo Circuit	/opt/jderobot/Launchers/montmelo_circuit.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+15	Montreal Ackermann Circuit	/opt/jderobot/Launchers/montreal_circuit_ackermann.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+16	Montreal Circuit	/opt/jderobot/Launchers/montreal_circuit.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+17	Nurburgring Ackermann Circuit	/opt/jderobot/Launchers/nurburgring_circuit_ackermann.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+18	Nurburgring Circuit	/opt/jderobot/Launchers/nurburgring_circuit.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
 19	Obstacle Avoidance Default	/opt/jderobot/Launchers/simple_circuit_obstacles_followingcam.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 20	Rescue Default	/opt/jderobot/Launchers/world.json	None	ROS2	drones	{0.0,0.0,0.0,0.0,0.0,0.0}
 21	Restaurant	/opt/jderobot/Launchers/restaurant.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
-22	Simple Ackermann Circuit	/opt/jderobot/Launchers/simple_circuit_ackermann.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
-23	Simple Circuit	/opt/jderobot/Launchers/simple_circuit.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
+22	Simple Ackermann Circuit	/opt/jderobot/Launchers/simple_circuit_ackermann.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+23	Simple Circuit	/opt/jderobot/Launchers/simple_circuit.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
 24	Vacuums House	/opt/jderobot/Launchers/vacuum_cleaner.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 25	Vacuums House Markers	/opt/jderobot/Launchers/marker_visual_loc.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/marker_visual_loc.config"}	ROS2	gz	{1,-1.5,0.6,0,0,0}
 26	Vacuums House Roof	/opt/jderobot/Launchers/montecarlo_visual_loc.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
@@ -213,6 +216,9 @@ COPY public.worlds (id, name, launch_file_path, tools_config, ros_version, type,
 37	Tower Inspection Harmonic	/opt/jderobot/Launchers/power_tower_inspection.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
 38	Machine Vision Industrial	/home/dev_ws/src/IndustrialRobots/ros2_SimRealRobotControl/ros2srrc_launch/moveit2/machine_vision.launch.py	{"rviz":"/home/dev_ws/src/IndustrialRobots/ros2_SimRealRobotControl/ros2srrc_launch/moveit2/machine_vision_rviz.launch.py"}	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 39	Labyrinth Escape	/opt/jderobot/Launchers/labyrinth_escape.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+40	Spa	/opt/jderobot/Launchers/spa_circuit.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+41	Monaco Ackermann Circuit	/opt/jderobot/Launchers/monaco_circuit_ackermann.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
+42	Monaco Circuit	/opt/jderobot/Launchers/monaco_circuit.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
 \.
 
 --