diff --git a/CustomRobots/Turtlebot2/launch/turtlebot2.launch.py b/CustomRobots/Turtlebot2/launch/turtlebot2.launch.py
index 216fede11..2d505957a 100644
--- a/CustomRobots/Turtlebot2/launch/turtlebot2.launch.py
+++ b/CustomRobots/Turtlebot2/launch/turtlebot2.launch.py
@@ -18,14 +18,16 @@ def launch_setup(context):
     P = LaunchConfiguration("P")
     Y = LaunchConfiguration("Y")
     gz_sensor = LaunchConfiguration("sensor")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
 
     package_dir = get_package_share_directory("custom_robots")
 
     nodes_to_start = []
 
     sensor = gz_sensor.perform(context)
-
-    bridge_yaml = os.path.join(package_dir, "params", f"turtlebot2_{sensor}.yaml")
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
 
     # =========================
     # ROBOT DESCRIPTION (URDF)
@@ -42,6 +44,7 @@ def launch_setup(context):
         mappings={
             "camera": "true" if sensor == "camera" else "false",
             "stereo": "true" if sensor == "stereo" else "false",
+            "namespace": namespace,
         },
     ).toxml()
 
@@ -51,6 +54,7 @@ def launch_setup(context):
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="robot_state_publisher",
+        namespace=gz_namespace,
         output="screen",
         parameters=[robot_description, {"use_sim_time": True}],
     )
@@ -58,11 +62,12 @@ def launch_setup(context):
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
+        namespace=gz_namespace,
         arguments=[
             "-topic",
-            "/robot_description",
+            f"/{namespace}/robot_description",
             "-name",
-            "turtlebot2",
+            entity,
             "-allow_renaming",
             "true",
             "-x",
@@ -84,7 +89,12 @@ def launch_setup(context):
     gz_ros2_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=["--ros-args", "-p", f"config_file:={bridge_yaml}"],
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
+            f"/{namespace}/laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+        ],
         output="screen",
     )
 
@@ -94,27 +104,25 @@ def launch_setup(context):
 
     # Sensor deppending on sensor arguments
     if sensor == "stereo":
-        gz_ros2_image_left_bridge = Node(
+        gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=["/cam_turtlebot_left/image_raw"],
+            namespace=gz_namespace,
+            arguments=[
+                f"/{namespace}/camera_left/image_raw",
+                f"/{namespace}/camera_right/image_raw",
+            ],
             output="screen",
         )
 
-        gz_ros2_image_right_bridge = Node(
-            package="ros_gz_image",
-            executable="image_bridge",
-            arguments=["/cam_turtlebot_right/image_raw"],
-            output="screen",
-        )
+        nodes_to_start.append(gz_ros2_image_bridge)
 
-        nodes_to_start.append(gz_ros2_image_left_bridge)
-        nodes_to_start.append(gz_ros2_image_right_bridge)
-    elif sensor == "":
+    elif sensor == "camera":
         gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=["/depth_camera/image_raw"],
+            namespace=gz_namespace,
+            arguments=[f"/{namespace}/camera/image_raw"],
             output="screen",
         )
 
@@ -124,19 +132,18 @@ def launch_setup(context):
 
 
 def generate_launch_description():
-    declared_arguments = []
-
-    # Add any entry parameter
-    declared_arguments.append(
-        DeclareLaunchArgument("use_sim_time", default_value="true")
-    )
-    declared_arguments.append(DeclareLaunchArgument("x", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("z", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("sensor", default_value="stereo"))
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("sensor", default_value="stereo"),
+        DeclareLaunchArgument("namespace", default_value="turtlebot2"),
+        DeclareLaunchArgument("entity", default_value="turtlebot2"),
+    ]
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
diff --git a/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2.urdf.xacro b/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2.urdf.xacro
index db8ef7f1b..58c073348 100755
--- a/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2.urdf.xacro
+++ b/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2.urdf.xacro
@@ -4,21 +4,23 @@
 
   <xacro:arg name="camera" default="true"/>
   <xacro:arg name="stereo" default="false"/>
+  <xacro:arg name="namespace" default="turtlebot2"/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
 
   <xacro:include filename="$(find custom_robots)/model/turtlebot2/turtlebot2_gz.urdf.xacro"/>
   <xacro:include filename="$(find custom_robots)/model/turtlebot2/turtlebot2_common.urdf.xacro"/>
 
-  <xacro:turtlebot2/>
+  <xacro:turtlebot2 namespace="${namespace}"/>
 
   <xacro:if value="$(arg camera)">
-    <xacro:camera xyz="-0.118 0 0.2812" rpy="0 0 0" name="depth_camera" parent="base_link"/>
-    <xacro:laser xyz="0 0 0.44" rpy="0 0 0" name="laser" parent="base_link" topic="scan"/>
+    <xacro:camera xyz="-0.118 0 0.2812" rpy="0 0 0" name="camera" parent="base_link" namespace="${namespace}"/>
+    <xacro:laser xyz="0 0 0.44" rpy="0 0 0" name="laser" parent="base_link" namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:if value="$(arg stereo)">
     <xacro:fake_camera xyz="-0.118 0 0.23" rpy="0 0 0" name="depth_camera" parent="base_link"/>
-    <xacro:stereo_camera xyz="-0.05 0.076 0.2424" rpy="0 0 0" name="cam_turtlebot_left" parent="base_link"/>
-    <xacro:stereo_camera xyz="-0.05 -0.076 0.2424" rpy="0 0 0" name="cam_turtlebot_right" parent="base_link"/>
+    <xacro:stereo_camera xyz="-0.05 0.076 0.2424" rpy="0 0 0" name="camera_left" parent="base_link" namespace="${namespace}"/>
+    <xacro:stereo_camera xyz="-0.05 -0.076 0.2424" rpy="0 0 0" name="camera_right" parent="base_link" namespace="${namespace}"/>
   </xacro:if>
 
 </robot>
diff --git a/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_common.urdf.xacro b/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_common.urdf.xacro
index ede5b1644..b387bfbc8 100755
--- a/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_common.urdf.xacro
+++ b/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_common.urdf.xacro
@@ -60,7 +60,7 @@
   </xacro:macro>
 
   <!-- Kobuki -->
-  <xacro:macro name="turtlebot2">
+  <xacro:macro name="turtlebot2" params="namespace">
     <link name="base_footprint"/>
     <!--
        Base link is set at the bottom of the base mould.
@@ -275,9 +275,9 @@
     </link>
 
     <!-- Kobuki Gazebo simulation details -->
-    <xacro:odom topic="odom" freq="20"/>
-    <xacro:velocity topic="cmd_vel"/>
-    <xacro:imu topic="imu"/>
+    <xacro:odom namespace="${namespace}" freq="20"/>
+    <xacro:velocity namespace="${namespace}"/>
+    <xacro:imu namespace="${namespace}"/>
     <xacro:extra/>
 
   </xacro:macro>
diff --git a/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_gz.urdf.xacro b/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_gz.urdf.xacro
index e7830847a..c85b5f9c4 100644
--- a/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_gz.urdf.xacro
+++ b/CustomRobots/Turtlebot2/model/turtlebot2/turtlebot2_gz.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="vacuum_cleaner_gz"
   xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="camera" params="xyz rpy name parent">
+  <xacro:macro name="camera" params="xyz rpy name parent namespace">
 
     <link name="${name}_link">
       <visual>
@@ -24,9 +24,9 @@
         <always_on>true</always_on>
         <visualize>false</visualize>
         <update_rate>5</update_rate>
-        <topic>/${name}/image_raw</topic>
+        <topic>/${namespace}/${name}/image_raw</topic>
         <camera name="camera">
-          <camera_info_topic>/${name}/camera_info</camera_info_topic>
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
           <horizontal_fov>1.0472</horizontal_fov>
           <image>
             <width>640</width>
@@ -61,7 +61,7 @@
     </joint>
   </xacro:macro>
 
-  <xacro:macro name="stereo_camera" params="xyz rpy name parent">
+  <xacro:macro name="stereo_camera" params="xyz rpy name parent namespace">
 
     <link name="${name}_link">
     </link>
@@ -78,9 +78,9 @@
         <always_on>true</always_on>
         <visualize>false</visualize>
         <update_rate>5</update_rate>
-        <topic>/${name}/image_raw</topic>
+        <topic>/${namespace}/${name}/image_raw</topic>
         <camera name="camera">
-          <camera_info_topic>/${name}/camera_info</camera_info_topic>
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
           <horizontal_fov>1.570000</horizontal_fov>
           <image>
             <width>640</width>
@@ -101,7 +101,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="laser" params="xyz rpy name parent topic">
+  <xacro:macro name="laser" params="xyz rpy name parent namespace">
     <link name="${name}_link">
       <visual>
         <geometry>
@@ -121,7 +121,7 @@
         <always_on>1</always_on>
         <visualize>1</visualize>
         <update_rate>5</update_rate>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/${name}/scan</topic>
         <gz_frame_id>laser</gz_frame_id>
         <lidar>
           <scan>
@@ -142,20 +142,20 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="bumper" params="topic name">
+  <xacro:macro name="bumper" params="topic name namespace">
     <gz>
       <sensor name='${name}' type='contact'>
         <always_on>true</always_on>
         <update_rate>20</update_rate>
         <contact>
           <collision>${name}_collision</collision>
-          <topic>${topic}</topic>
+          <topic>/${namespace}/${topic}</topic>
         </contact>
       </sensor>
     </gz>
   </xacro:macro>
 
-  <xacro:macro name="imu" params="topic">
+  <xacro:macro name="imu" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
       </plugin>
@@ -164,7 +164,7 @@
         <sensor name='imu' type='imu'>
           <always_on>1</always_on>
           <update_rate>50</update_rate>
-          <topic>${topic}</topic>
+          <topic>/${namespace}/imu</topic>
           <imu>
             <noise>
               <type>gaussian</type>
@@ -225,7 +225,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="velocity" params="topic">
+  <xacro:macro name="velocity" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
         <publish_tf>1</publish_tf>
@@ -233,18 +233,18 @@
         <right_joint>wheel_right_joint</right_joint>
         <wheel_separation>.230</wheel_separation>
         <wheel_diameter>0.070</wheel_diameter>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/cmd_vel</topic>
       </plugin>
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="odom" params="topic freq">
+  <xacro:macro name="odom" params="namespace freq">
     <gazebo>
       <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
         <odom_frame>odom</odom_frame>
         <robot_base_frame>base_footprint</robot_base_frame>
         <odom_publish_frequency>${freq}</odom_publish_frequency>
-        <odom_topic>${topic}</odom_topic>
+        <odom_topic>/${namespace}/odom</odom_topic>
         <dimensions>3</dimensions>
       </plugin>
     </gazebo>
diff --git a/CustomRobots/Turtlebot2/params/turtlebot2_camera.yaml b/CustomRobots/Turtlebot2/params/turtlebot2_camera.yaml
index 2b12e493a..4667b45e0 100644
--- a/CustomRobots/Turtlebot2/params/turtlebot2_camera.yaml
+++ b/CustomRobots/Turtlebot2/params/turtlebot2_camera.yaml
@@ -32,18 +32,6 @@
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/depth_camera/depth_image"
-  gz_topic_name: "/depth_camera/depth_image"
-  ros_type_name: "sensor_msgs/msg/Image"
-  gz_type_name: "gz.msgs.Image"
-  direction: GZ_TO_ROS
-
-- ros_topic_name: "/depth_camera/points"
-  gz_topic_name: "/depth_camera/points"
-  ros_type_name: "sensor_msgs/msg/PointCloud2"
-  gz_type_name: "gz.msgs.PointCloudPacked"
-  direction: GZ_TO_ROS
-
 - ros_topic_name: "/person/cmd_vel"
   gz_topic_name: "/person/cmd_vel"
   ros_type_name: "geometry_msgs/msg/Twist"
diff --git a/CustomRobots/autonomous_car/launch/autonomous_car.launch.py b/CustomRobots/autonomous_car/launch/autonomous_car.launch.py
index 9fdbe6ec7..4b6600687 100644
--- a/CustomRobots/autonomous_car/launch/autonomous_car.launch.py
+++ b/CustomRobots/autonomous_car/launch/autonomous_car.launch.py
@@ -19,6 +19,8 @@ def launch_setup(context):
     Y = LaunchConfiguration("Y")
     gz_sensor = LaunchConfiguration("sensor")
     gz_mode = LaunchConfiguration("mode")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
 
     package_dir = get_package_share_directory("custom_robots")
 
@@ -26,10 +28,8 @@ def launch_setup(context):
 
     sensor = gz_sensor.perform(context)
     mode = gz_mode.perform(context)
-
-    bridge_yaml = os.path.join(
-        package_dir, "params", f"autonomous_car_{mode}_{sensor}.yaml"
-    )
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
 
     # =========================
     # ROBOT DESCRIPTION (URDF)
@@ -48,6 +48,7 @@ def launch_setup(context):
             "lidar": "true" if sensor == "lidar" else "false",
             "laser": "true" if sensor == "laser" else "false",
             "steering": mode,
+            "namespace": namespace,
         },
     ).toxml()
 
@@ -57,6 +58,7 @@ def launch_setup(context):
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="robot_state_publisher",
+        namespace=gz_namespace,
         output="screen",
         parameters=[robot_description, {"use_sim_time": True}],
     )
@@ -64,11 +66,12 @@ def launch_setup(context):
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
+        namespace=gz_namespace,
         arguments=[
             "-topic",
-            "/robot_description",
+            f"/{namespace}/robot_description",
             "-name",
-            "autonomous_car",
+            entity,
             "-allow_renaming",
             "true",
             "-x",
@@ -90,7 +93,11 @@ def launch_setup(context):
     gz_ros2_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=["--ros-args", "-p", f"config_file:={bridge_yaml}"],
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
+        ],
         output="screen",
     )
 
@@ -103,29 +110,53 @@ def launch_setup(context):
         gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=["/prius_autoparking/image_raw"],
+            namespace=gz_namespace,
+            arguments=[f"/{namespace}/camera/image_raw"],
             output="screen",
         )
         nodes_to_start.append(gz_ros2_image_bridge)
+    elif sensor == "laser":
+        gz_ros2_laser_bridge = Node(
+            package="ros_gz_bridge",
+            executable="parameter_bridge",
+            namespace=gz_namespace,
+            arguments=[
+                f"/{namespace}/laser_front/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+                f"/{namespace}/laser_side/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+                f"/{namespace}/laser_back/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+            ],
+            output="screen",
+        )
+        nodes_to_start.append(gz_ros2_laser_bridge)
+    elif sensor == "lidar":
+        gz_ros2_lidar_bridge = Node(
+            package="ros_gz_bridge",
+            executable="parameter_bridge",
+            namespace=gz_namespace,
+            arguments=[
+                f"/{namespace}/lidar/pc2/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
+            ],
+            output="screen",
+        )
+        nodes_to_start.append(gz_ros2_lidar_bridge)
 
     return nodes_to_start
 
 
 def generate_launch_description():
-    declared_arguments = []
-
-    # Add any entry parameter
-    declared_arguments.append(
-        DeclareLaunchArgument("use_sim_time", default_value="true")
-    )
-    declared_arguments.append(DeclareLaunchArgument("x", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("z", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("sensor", default_value="none"))
-    declared_arguments.append(DeclareLaunchArgument("mode", default_value="ackermann"))
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("sensor", default_value="none"),
+        DeclareLaunchArgument("mode", default_value="ackermann"),
+        DeclareLaunchArgument("namespace", default_value="autonomous_car"),
+        DeclareLaunchArgument("entity", default_value="autonomous_car"),
+    ]
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
diff --git a/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car.urdf.xacro b/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car.urdf.xacro
index 7ea77daed..13e5660a2 100644
--- a/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car.urdf.xacro
+++ b/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car.urdf.xacro
@@ -6,25 +6,27 @@
   <xacro:arg name="lidar" default="false"/>
   <xacro:arg name="laser" default="false"/>
   <xacro:arg name="steering" default="ackermann"/>
+  <xacro:arg name="namespace" default="autonomous_car"/>
 
   <xacro:property name="steering" value="$(arg steering)"/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
 
   <xacro:include filename="$(find custom_robots)/models/autonomous_car/autonomous_car_gz.urdf.xacro"/>
   <xacro:include filename="$(find custom_robots)/models/autonomous_car/autonomous_car_common.urdf.xacro"/>
 
-  <xacro:autonomous_car steering="${steering}"/>
+  <xacro:autonomous_car steering="${steering}" namespace="${namespace}"/>
 
   <xacro:if value="$(arg camera)">
-    <xacro:camera xyz="0 0.2 1.45" rpy="0 0 0" name="prius_autoparking" parent="base_link"/>
+    <xacro:camera xyz="0 0.2 1.45" rpy="0 0 0" parent="base_link" name="camera" namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:if value="$(arg lidar)">
-    <xacro:lidar xyz="-1.25 0 1.725" rpy="0 0 -1.578" name="lidar" parent="base_link" topic="/prius_autoparking/pc2"/>
+    <xacro:lidar xyz="-1.25 0 1.725" rpy="0 0 -1.578" name="lidar" parent="base_link" namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:if value="$(arg laser)">
-    <xacro:laser xyz="-0.024 2.39 0.5" rpy="0 0 1.5708" name="laser_front" parent="chassis_link" topic="/prius_autoparking/scan_front"/>
-    <xacro:laser xyz="1.1 0 0.5" rpy="0 0 0" name="laser_side" parent="chassis_link" topic="/prius_autoparking/scan_side"/>
-    <xacro:laser xyz="-0.024 -2.6 0.5" rpy="0 0 -1.5708" name="laser_back" parent="chassis_link" topic="/prius_autoparking/scan_back"/>
+    <xacro:laser xyz="-0.024 2.39 0.5" rpy="0 0 1.5708" name="laser_front" parent="chassis_link" namespace="${namespace}"/>
+    <xacro:laser xyz="1.1 0 0.5" rpy="0 0 0" name="laser_side" parent="chassis_link" namespace="${namespace}"/>
+    <xacro:laser xyz="-0.024 -2.6 0.5" rpy="0 0 -1.5708" name="laser_back" parent="chassis_link" namespace="${namespace}"/>
   </xacro:if>
 </robot>
diff --git a/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car_common.urdf.xacro b/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car_common.urdf.xacro
index b077c2450..34c354cb1 100644
--- a/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car_common.urdf.xacro
+++ b/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car_common.urdf.xacro
@@ -3,7 +3,7 @@
   xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find custom_robots)/models/autonomous_car/autonomous_car_gz.urdf.xacro"/>
 
-  <xacro:macro name="autonomous_car" params="steering">
+  <xacro:macro name="autonomous_car" params="steering namespace">
 
     <link name="base_link"/>
 
@@ -209,15 +209,15 @@
     </link> -->
 
     <xacro:if value="${steering == 'holonomic'}">
-      <xacro:velocity topic="/cmd_vel"/>
+      <xacro:velocity namespace="${namespace}"/>
     </xacro:if>
 
     <xacro:if value="${steering == 'ackermann'}">
-      <xacro:ackermann_steering topic="/prius_autoparking/cmd_vel"/>
+      <xacro:ackermann_steering namespace="${namespace}"/>
     </xacro:if>
 
     <xacro:joints/>
-    <xacro:odom topic="/prius_autoparking/odom" freq="50"/>
+    <xacro:odom namespace="${namespace}" freq="50"/>
     <!-- <xacro:f1_steer_controller topic="/model/prius_autoparking/steering_wheel_cmd" joint="steering_joint"/> -->
   </xacro:macro>
 </robot>
diff --git a/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car_gz.urdf.xacro b/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car_gz.urdf.xacro
index 8792311f5..61ce5109e 100644
--- a/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car_gz.urdf.xacro
+++ b/CustomRobots/autonomous_car/models/autonomous_car/autonomous_car_gz.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="autonomous_car_gz"
   xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="camera" params="xyz rpy name parent">
+  <xacro:macro name="camera" params="xyz rpy parent name namespace">
 
     <link name="${name}_link"></link>
 
@@ -16,9 +16,9 @@
         <always_on>true</always_on>
         <visualize>false</visualize>
         <update_rate>20</update_rate>
-        <topic>/${name}/image_raw</topic>
+        <topic>/${namespace}/${name}/image_raw</topic>
         <camera name="camera">
-          <camera_info_topic>/${name}/camera_info</camera_info_topic>
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
           <horizontal_fov>2.094</horizontal_fov>
           <lens>
             <type>gnomonical</type>
@@ -52,7 +52,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="laser" params="xyz rpy name parent topic">
+  <xacro:macro name="laser" params="xyz rpy name parent namespace">
     <link name="${name}_link"></link>
 
     <joint name="${name}_to_${parent}" type="fixed">
@@ -66,7 +66,7 @@
         <always_on>1</always_on>
         <visualize>1</visualize>
         <update_rate>20</update_rate>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/${name}/scan</topic>
         <gz_frame_id>base_scan</gz_frame_id>
         <lidar>
           <scan>
@@ -87,7 +87,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="lidar" params="xyz rpy name parent topic">
+  <xacro:macro name="lidar" params="xyz rpy name parent namespace">
     <material name="white">
       <color rgba="1.0 1.0 1.0 1.0"/>
     </material>
@@ -141,7 +141,7 @@
         <always_on>1</always_on>
         <visualize>1</visualize>
         <update_rate>20</update_rate>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/${name}/pc2</topic>
         <gz_frame_id>base_scan</gz_frame_id>
         <lidar>
           <scan>
@@ -173,7 +173,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="ackermann_steering" params="topic">
+  <xacro:macro name="ackermann_steering" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-ackermann-steering-system" name="gz::sim::systems::AckermannSteering">
         <left_joint>fl_axle</left_joint>
@@ -191,27 +191,27 @@
         <max_velocity>50</max_velocity>
         <min_acceleration>-50</min_acceleration>
         <max_acceleration>50</max_acceleration>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/cmd_vel</topic>
       </plugin>
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="odom" params="topic freq">
+  <xacro:macro name="odom" params="namespace freq">
     <gazebo>
       <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
         <odom_frame>odom</odom_frame>
         <robot_base_frame>chassis_link</robot_base_frame>
         <odom_publish_frequency>${freq}</odom_publish_frequency>
-        <odom_topic>${topic}</odom_topic>
+        <odom_topic>/${namespace}/odom</odom_topic>
         <dimensions>3</dimensions>
       </plugin>
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="velocity" params="topic">
+  <xacro:macro name="velocity" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
-        <topic>${topic}</topic>
+        <topic>/${namespace}/cmd_vel</topic>
       </plugin>
     </gazebo>
   </xacro:macro>
diff --git a/CustomRobots/f1/launch/f1.launch.py b/CustomRobots/f1/launch/f1.launch.py
index 34723a881..61884efc9 100644
--- a/CustomRobots/f1/launch/f1.launch.py
+++ b/CustomRobots/f1/launch/f1.launch.py
@@ -17,33 +17,27 @@ def launch_setup(context):
     R = LaunchConfiguration("R")
     P = LaunchConfiguration("P")
     Y = LaunchConfiguration("Y")
-    sensor = LaunchConfiguration("sensor")
-    mode = LaunchConfiguration("mode")
+    gz_sensor = LaunchConfiguration("sensor")
+    gz_mode = LaunchConfiguration("mode")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
 
     package_dir = get_package_share_directory("custom_robots")
 
     nodes_to_start = []
 
-    f1_sensor = "camera"
-    f1_model = "holonomic"
+    sensor = gz_sensor.perform(context)
+    mode = gz_mode.perform(context)
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
 
-    if sensor.perform(context) == "laser":
-        f1_sensor = "laser"
-
-    if mode.perform(context) == "ackermann":
-        f1_model = "ackermann"
-
-    bridge_yaml = os.path.join(package_dir, "params", "f1_renault.yaml")
+    f1_sensor = "laser" if sensor == "laser" else "camera"
+    f1_model = "ackermann" if mode == "ackermann" else "holonomic"
 
     # =========================
     # ROBOT DESCRIPTION (URDF)
     # =========================
-    xacro_file = os.path.join(
-        package_dir,
-        "models",
-        "f1",
-        "f1.urdf.xacro",
-    )
+    xacro_file = os.path.join(package_dir, "models", "f1", "f1.urdf.xacro")
 
     robot_description_content = xacro.process_file(
         xacro_file,
@@ -52,6 +46,7 @@ def launch_setup(context):
             "ackermann": "true" if f1_model == "ackermann" else "false",
             "camera": "true" if f1_sensor == "camera" else "false",
             "laser": "true" if f1_sensor == "laser" else "false",
+            "namespace": namespace,
         },
     ).toxml()
 
@@ -61,6 +56,7 @@ def launch_setup(context):
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="robot_state_publisher",
+        namespace=gz_namespace,
         output="screen",
         parameters=[robot_description, {"use_sim_time": True}],
     )
@@ -68,11 +64,12 @@ def launch_setup(context):
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
+        namespace=gz_namespace,
         arguments=[
             "-topic",
-            "/robot_description",
+            f"/{namespace}/robot_description",
             "-name",
-            "f1",
+            entity,
             "-allow_renaming",
             "true",
             "-x",
@@ -94,7 +91,11 @@ def launch_setup(context):
     gz_ros2_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=["--ros-args", "-p", f"config_file:={bridge_yaml}"],
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
+        ],
         output="screen",
     )
 
@@ -107,29 +108,40 @@ def launch_setup(context):
         gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=["/cam_f1_left/image_raw"],
+            arguments=[f"/{namespace}/camera/image_raw"],
             output="screen",
         )
         nodes_to_start.append(gz_ros2_image_bridge)
+    else:
+        gz_ros2_laser_bridge = Node(
+            package="ros_gz_bridge",
+            executable="parameter_bridge",
+            namespace=gz_namespace,
+            arguments=[
+                f"/{namespace}/laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+            ],
+            output="screen",
+        )
+        nodes_to_start.append(gz_ros2_laser_bridge)
 
     return nodes_to_start
 
 
 def generate_launch_description():
-    declared_arguments = []
-
     # Add any entry parameter
-    declared_arguments.append(
-        DeclareLaunchArgument("use_sim_time", default_value="true")
-    )
-    declared_arguments.append(DeclareLaunchArgument("x", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("z", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("sensor", default_value="camera"))
-    declared_arguments.append(DeclareLaunchArgument("mode", default_value="holo"))
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("sensor", default_value="camera"),
+        DeclareLaunchArgument("mode", default_value="holo"),
+        DeclareLaunchArgument("namespace", default_value="f1"),
+        DeclareLaunchArgument("entity", default_value="f1"),
+    ]
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
diff --git a/CustomRobots/f1/models/f1/f1.urdf.xacro b/CustomRobots/f1/models/f1/f1.urdf.xacro
index 406b42e39..4e37411a6 100644
--- a/CustomRobots/f1/models/f1/f1.urdf.xacro
+++ b/CustomRobots/f1/models/f1/f1.urdf.xacro
@@ -6,23 +6,25 @@
   <xacro:arg name="ackermann" default="false"/>
   <xacro:arg name="camera" default="true"/>
   <xacro:arg name="laser" default="false"/>
+  <xacro:arg name="namespace" default="f1"/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
 
   <xacro:include filename="$(find custom_robots)/models/f1/f1_gz.urdf.xacro"/>
   <xacro:include filename="$(find custom_robots)/models/f1/f1_common.urdf.xacro"/>
 
   <xacro:if value="$(arg holonomic)">
-    <xacro:holonomic/>
+    <xacro:holonomic namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:if value="$(arg ackermann)">
-    <xacro:ackermann/>
+    <xacro:ackermann namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:if value="$(arg camera)">
-    <xacro:f1_camera xyz="0.45 0.04 0.1" rpy="0 0 0" name="cam_f1_left" parent="base"/>
+    <xacro:f1_camera xyz="0.45 0.04 0.1" rpy="0 0 0" name="camera" parent="base" namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:if value="$(arg laser)">
-    <xacro:f1_laser xyz="0.5 0 0.072" rpy="0 0 0" name="laser" parent="base"/>
+    <xacro:f1_laser xyz="0.5 0 0.072" rpy="0 0 0" name="laser" parent="base" namespace="${namespace}"/>
   </xacro:if>
 </robot>
diff --git a/CustomRobots/f1/models/f1/f1_common.urdf.xacro b/CustomRobots/f1/models/f1/f1_common.urdf.xacro
index e4851f51b..d63be0aa4 100644
--- a/CustomRobots/f1/models/f1/f1_common.urdf.xacro
+++ b/CustomRobots/f1/models/f1/f1_common.urdf.xacro
@@ -3,7 +3,7 @@
   xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find custom_robots)/models/f1/f1_gz.urdf.xacro"/>
 
-  <xacro:macro name="holonomic">
+  <xacro:macro name="holonomic" params="namespace">
 
     <link name="base">
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -24,11 +24,11 @@
       </visual>
     </link>
 
-    <xacro:f1_velocity topic="/F1ROS/cmd_vel"/>
-    <xacro:f1_odom topic="/F1ROS/odom" freq="50"/>
+    <xacro:f1_velocity topic="/${namespace}/cmd_vel"/>
+    <xacro:f1_odom topic="/${namespace}/odom" freq="50"/>
   </xacro:macro>
 
-  <xacro:macro name="ackermann">
+  <xacro:macro name="ackermann" params="namespace">
 
     <link name="base"/>
 
@@ -216,9 +216,9 @@
       </visual>
     </link> -->
 
-    <xacro:f1_ackermann_steering topic="/F1ROS/cmd_vel"/>
+    <xacro:f1_ackermann_steering topic="/${namespace}/cmd_vel"/>
     <xacro:f1_joints/>
-    <xacro:f1_odom topic="/F1ROS/odom" freq="50"/>
+    <xacro:f1_odom topic="/${namespace}/odom" freq="50"/>
     <!-- <xacro:f1_steer_controller topic="/model/f1_renault_ackermann_harmonic/steering_wheel_cmd" joint="steering_joint"/> -->
   </xacro:macro>
 </robot>
diff --git a/CustomRobots/f1/models/f1/f1_gz.urdf.xacro b/CustomRobots/f1/models/f1/f1_gz.urdf.xacro
index 7efb48238..35416f696 100644
--- a/CustomRobots/f1/models/f1/f1_gz.urdf.xacro
+++ b/CustomRobots/f1/models/f1/f1_gz.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="f1_gz"
   xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="f1_camera" params="xyz rpy name parent">
+  <xacro:macro name="f1_camera" params="xyz rpy name parent namespace">
 
     <link name="${name}_link">
       <visual>
@@ -22,9 +22,9 @@
         <always_on>true</always_on>
         <visualize>true</visualize>
         <update_rate>20.000000</update_rate>
-        <topic>/${name}/image_raw</topic>
+        <topic>/${namespace}/${name}/image_raw</topic>
         <camera name="cleft">
-          <camera_info_topic>/${name}/camera_info</camera_info_topic>
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
           <horizontal_fov>1.570000</horizontal_fov>
           <image>
             <width>640</width>
@@ -45,7 +45,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="f1_laser" params="xyz rpy name parent">
+  <xacro:macro name="f1_laser" params="xyz rpy name parent namespace">
     <link name="${name}_link">
       <visual>
         <geometry>
@@ -65,7 +65,7 @@
         <always_on>1</always_on>
         <visualize>1</visualize>
         <update_rate>20</update_rate>
-        <topic>f1/laser/scan</topic>
+        <topic>/${namespace}/laser/scan</topic>
         <gz_frame_id>base_scan</gz_frame_id>
         <lidar>
           <scan>
diff --git a/CustomRobots/quadrotor/launch/quadrotor.launch.py b/CustomRobots/quadrotor/launch/quadrotor.launch.py
index 503617b14..937cd3412 100644
--- a/CustomRobots/quadrotor/launch/quadrotor.launch.py
+++ b/CustomRobots/quadrotor/launch/quadrotor.launch.py
@@ -12,6 +12,7 @@
 from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterValue
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ros_gz_bridge.actions import RosGzBridge
 
 
 def launch_setup(context):
@@ -24,6 +25,7 @@ def launch_setup(context):
     Y = LaunchConfiguration("Y")
     gz_sensor = LaunchConfiguration("sensor")
     gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
 
     package_dir = get_package_share_directory("custom_robots")
 
@@ -31,8 +33,7 @@ def launch_setup(context):
 
     sensor = gz_sensor.perform(context)
     namespace = gz_namespace.perform(context)
-
-    bridge_yaml = os.path.join(package_dir, "params", f"quadrotor_{sensor}.yaml")
+    entity = gz_entity.perform(context)
 
     # =========================
     # ROBOT DESCRIPTION (URDF)
@@ -71,7 +72,7 @@ def launch_setup(context):
             "-topic",
             "robot_description",
             "-name",
-            namespace,
+            entity,
             "-allow_renaming",
             "true",
             "-x",
@@ -89,13 +90,13 @@ def launch_setup(context):
         ],
         output="screen",
     )
+    bridge_yaml = os.path.join(package_dir, "params", f"quadrotor_{sensor}.yaml")
 
-    gz_ros2_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
+    gz_ros2_bridge = RosGzBridge(
+        bridge_name="bridge1",
         namespace=gz_namespace,
-        parameters=[{"config_file": bridge_yaml}],
-        output="screen",
+        config_file=bridge_yaml,
+        use_composition=str(True),
     )
 
     as2_gt_bridge = Node(
@@ -107,7 +108,7 @@ def launch_setup(context):
             {
                 "name_space": namespace,
                 "pose_frame_id": "earth",
-                "twist_frame_id": namespace + "/base_link",
+                "twist_frame_id": f"{namespace}/base_link",
             },
         ],
     )
@@ -119,9 +120,7 @@ def launch_setup(context):
                 "/as2_default_gazebo_sim.launch.py",
             ]
         ),
-        launch_arguments={
-            "namespace": gz_namespace,
-        }.items(),
+        launch_arguments={"namespace": gz_namespace}.items(),
     )
 
     nodes_to_start.append(gz_spawn_entity)
@@ -132,45 +131,35 @@ def launch_setup(context):
 
     # Sensor deppending on sensor arguments
     if sensor == "camera":
-        gz_ros2_frontal_image_bridge = Node(
+        gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=[f"/{namespace}/frontal_cam/image_raw"],
+            namespace=gz_namespace,
+            arguments=[
+                f"/{namespace}/frontal_cam/image_raw",
+                f"/{namespace}/ventral_cam/image_raw",
+            ],
             output="screen",
         )
 
-        gz_ros2_ventral_image_bridge = Node(
-            package="ros_gz_image",
-            executable="image_bridge",
-            arguments=[f"/{namespace}/ventral_cam/image_raw"],
-            output="screen",
-        )
-
-        nodes_to_start.append(gz_ros2_frontal_image_bridge)
-        nodes_to_start.append(gz_ros2_ventral_image_bridge)
+        nodes_to_start.append(gz_ros2_image_bridge)
 
     return nodes_to_start
 
 
 def generate_launch_description():
-    declared_arguments = []
-
-    # Add any entry parameter
-    declared_arguments.append(
-        DeclareLaunchArgument("use_sim_time", default_value="true")
-    )
-    declared_arguments.append(DeclareLaunchArgument("x", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("z", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("sensor", default_value="camera"))
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "namespace", description="Namespace to use", default_value="drone0"
-        )
-    )
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("sensor", default_value="camera"),
+        DeclareLaunchArgument("namespace", default_value="drone"),
+        DeclareLaunchArgument("entity", default_value="drone"),
+    ]
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
diff --git a/CustomRobots/quadrotor/models/quadrotor/quadrotor.sdf b/CustomRobots/quadrotor/models/quadrotor/quadrotor.sdf
deleted file mode 100644
index 521a872f9..000000000
--- a/CustomRobots/quadrotor/models/quadrotor/quadrotor.sdf
+++ /dev/null
@@ -1,657 +0,0 @@
-<?xml version="1.0" ?>
-
-<sdf version="1.8">
-    <model name='quadrotor_dual_cam'>
-        <!-- Platform base model-->
-        <link name='base_link'>
-            <enable_wind>true</enable_wind>
-            <pose>0 0 0 0 -0 0</pose>
-            <inertial>
-                <pose>0 0 0 0 -0 0</pose>
-                <mass>1.5</mass>
-                <inertia>
-                    <ixx>0.025</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>0.009</iyy>
-                    <iyz>0</iyz>
-                    <izz>0.033</izz>
-                </inertia>
-            </inertial>
-            <collision name='base_link_inertia_collision'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <box>
-                        <size>0.47 0.47 0.11</size>
-                    </box>
-                </geometry>
-            </collision>
-            <visual name='base_link_inertia_visual'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <mesh>
-                        <scale>1 1 1</scale>
-                        <uri>model://quadrotor/meshes/quadrotor.dae</uri>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name='marker_visual_1'>
-                <pose>-0.07 0 0.065 0 -0 0</pose>
-                <geometry>
-                    <mesh>
-                        <uri>model://quadrotor/meshes/led.dae</uri>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name='marker_visual_2'>
-                <pose>-0.08 0.037 0.04 -1.0472 -0 0.2</pose>
-                <geometry>
-                    <mesh>
-                        <uri>model://quadrotor/meshes/led.dae</uri>
-                    </mesh>
-                </geometry>
-            </visual>
-            <visual name='marker_visual_3'>
-                <pose>-0.08 -0.035 0.04 1.0472 -0 -0.1</pose>
-                <geometry>
-                    <mesh>
-                        <uri>model://quadrotor/meshes/led.dae</uri>
-                    </mesh>
-                </geometry>
-            </visual>
-        </link>
-
-        <!-- IMU -->
-        <link name="imu">
-            <inertial>
-                <mass>0.005</mass>
-                <inertia>
-                    <ixx>8.33e-06</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>8.33e-06</iyy>
-                    <iyz>0</iyz>
-                    <izz>8.33e-06</izz>
-                </inertia>
-            </inertial>
-            <sensor name='imu' type='imu'>
-                <always_on>1</always_on>
-                <update_rate>250</update_rate>
-                <imu>
-                    <angular_velocity>
-                        <x>
-                            <noise type='gaussian'>
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type='gaussian'>
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type='gaussian'>
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </z>
-                    </angular_velocity>
-                    <linear_acceleration>
-                        <x>
-                            <noise type='gaussian'>
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type='gaussian'>
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type='gaussian'>
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </z>
-                    </linear_acceleration>
-                </imu>
-            </sensor>
-        </link>
-
-        <joint name="imu_joint" type="fixed">
-            <parent>base_link</parent>
-            <child>imu</child>
-        </joint>
-
-        <link name='rotor_0'>
-            <pose>0.13 -0.22 0.023 0 -0 0</pose>
-            <inertial>
-                <pose>0 0 0 0 -0 0</pose>
-                <mass>0.005</mass>
-                <inertia>
-                    <ixx>9.75e-07</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>4.17041e-05</iyy>
-                    <iyz>0</iyz>
-                    <izz>4.26041e-05</izz>
-                </inertia>
-            </inertial>
-            <collision name='rotor_0_collision'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.1</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                    <contact>
-                        <ode/>
-                    </contact>
-                    <friction>
-                        <ode/>
-                    </friction>
-                </surface>
-            </collision>
-            <visual name='rotor_0_visual'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <mesh>
-                        <scale>0.1 0.1 0.1</scale>
-                        <uri>model://quadrotor/meshes/propeller_ccw.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <diffuse>0 0 1 1</diffuse>
-                    <specular>0 0 0 1</specular>
-                </material>
-                <cast_shadows>0</cast_shadows>
-            </visual>
-            <gravity>1</gravity>
-            <velocity_decay/>
-        </link>
-        <joint name='rotor_0_joint' type='revolute'>
-            <child>rotor_0</child>
-            <parent>base_link</parent>
-            <axis>
-                <xyz expressed_in='__model__'>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-                <dynamics>
-                    <spring_reference>0</spring_reference>
-                    <spring_stiffness>0</spring_stiffness>
-                </dynamics>
-            </axis>
-        </joint>
-        <link name='rotor_1'>
-            <pose>-0.13 0.2 0.023 0 -0 0</pose>
-            <inertial>
-                <pose>0 0 0 0 -0 0</pose>
-                <mass>0.005</mass>
-                <inertia>
-                    <ixx>9.75e-07</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>4.17041e-05</iyy>
-                    <iyz>0</iyz>
-                    <izz>4.26041e-05</izz>
-                </inertia>
-            </inertial>
-            <collision name='rotor_1_collision'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.1</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                    <contact>
-                        <ode/>
-                    </contact>
-                    <friction>
-                        <ode/>
-                    </friction>
-                </surface>
-            </collision>
-            <visual name='rotor_1_visual'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <mesh>
-                        <scale>0.1 0.1 0.1</scale>
-                        <uri>model://quadrotor/meshes/propeller_ccw.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <diffuse>1 0 0 1</diffuse>
-                    <specular>0 0 0 1</specular>
-                </material>
-                <cast_shadows>0</cast_shadows>
-            </visual>
-            <gravity>1</gravity>
-            <velocity_decay/>
-        </link>
-        <joint name='rotor_1_joint' type='revolute'>
-            <child>rotor_1</child>
-            <parent>base_link</parent>
-            <axis>
-                <xyz expressed_in='__model__'>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-                <dynamics>
-                    <spring_reference>0</spring_reference>
-                    <spring_stiffness>0</spring_stiffness>
-                </dynamics>
-            </axis>
-        </joint>
-        <link name='rotor_2'>
-            <pose>0.13 0.22 0.023 0 -0 0</pose>
-            <inertial>
-                <pose>0 0 0 0 -0 0</pose>
-                <mass>0.005</mass>
-                <inertia>
-                    <ixx>9.75e-07</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>4.17041e-05</iyy>
-                    <iyz>0</iyz>
-                    <izz>4.26041e-05</izz>
-                </inertia>
-            </inertial>
-            <collision name='rotor_2_collision'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.1</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                    <contact>
-                        <ode/>
-                    </contact>
-                    <friction>
-                        <ode/>
-                    </friction>
-                </surface>
-            </collision>
-            <visual name='rotor_2_visual'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <mesh>
-                        <scale>0.1 0.1 0.1</scale>
-                        <uri>model://quadrotor/meshes/propeller_cw.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <diffuse>0 0 1 1</diffuse>
-                    <specular>0 0 0 1</specular>
-                </material>
-                <cast_shadows>0</cast_shadows>
-            </visual>
-            <gravity>1</gravity>
-            <velocity_decay/>
-        </link>
-        <joint name='rotor_2_joint' type='revolute'>
-            <child>rotor_2</child>
-            <parent>base_link</parent>
-            <axis>
-                <xyz expressed_in='__model__'>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-                <dynamics>
-                    <spring_reference>0</spring_reference>
-                    <spring_stiffness>0</spring_stiffness>
-                </dynamics>
-            </axis>
-        </joint>
-        <link name='rotor_3'>
-            <pose>-0.13 -0.2 0.023 0 -0 0</pose>
-            <inertial>
-                <pose>0 0 0 0 -0 0</pose>
-                <mass>0.005</mass>
-                <inertia>
-                    <ixx>9.75e-07</ixx>
-                    <ixy>0</ixy>
-                    <ixz>0</ixz>
-                    <iyy>4.17041e-05</iyy>
-                    <iyz>0</iyz>
-                    <izz>4.26041e-05</izz>
-                </inertia>
-            </inertial>
-            <collision name='rotor_3_collision'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <cylinder>
-                        <length>0.005</length>
-                        <radius>0.1</radius>
-                    </cylinder>
-                </geometry>
-                <surface>
-                    <contact>
-                        <ode/>
-                    </contact>
-                    <friction>
-                        <ode/>
-                    </friction>
-                </surface>
-            </collision>
-            <visual name='rotor_3_visual'>
-                <pose>0 0 0 0 -0 0</pose>
-                <geometry>
-                    <mesh>
-                        <scale>0.1 0.1 0.1</scale>
-                        <uri>model://quadrotor/meshes/propeller_cw.dae</uri>
-                    </mesh>
-                </geometry>
-                <material>
-                    <diffuse>1 0 0 1</diffuse>
-                    <specular>0 0 0 1</specular>
-                </material>
-                <cast_shadows>0</cast_shadows>
-            </visual>
-            <gravity>1</gravity>
-            <velocity_decay/>
-        </link>
-        <joint name='rotor_3_joint' type='revolute'>
-            <child>rotor_3</child>
-            <parent>base_link</parent>
-            <axis>
-                <xyz expressed_in='__model__'>0 0 1</xyz>
-                <limit>
-                    <lower>-1e+16</lower>
-                    <upper>1e+16</upper>
-                </limit>
-                <dynamics>
-                    <spring_reference>0</spring_reference>
-                    <spring_stiffness>0</spring_stiffness>
-                </dynamics>
-            </axis>
-        </joint>
-
-        <!-- TFs -->
-        <plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
-            <publish_link_pose>true</publish_link_pose>
-            <publish_sensor_pose>true</publish_sensor_pose>
-            <publish_collision_pose>false</publish_collision_pose>
-            <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>true</publish_nested_model_pose>
-            <publish_model_pose>false</publish_model_pose>
-            <use_pose_vector_msg>true</use_pose_vector_msg>
-            <static_publisher>true</static_publisher>
-            <static_update_frequency>100</static_update_frequency>
-        </plugin>
-        <!-- Motors -->
-        <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-            <robotNamespace>model/drone0</robotNamespace>
-            <jointName>rotor_0_joint</jointName>
-            <linkName>rotor_0</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>800.0</maxRotVelocity>
-            <motorConstant>8.54858e-06</motorConstant>
-            <momentConstant>0.016</momentConstant>
-            <commandSubTopic>command/motor_speed</commandSubTopic>
-            <motorNumber>0</motorNumber>
-            <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-            <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-            <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-            <motorType>velocity</motorType>
-        </plugin>
-        <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-            <robotNamespace>model/drone0</robotNamespace>
-            <jointName>rotor_1_joint</jointName>
-            <linkName>rotor_1</linkName>
-            <turningDirection>ccw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>800.0</maxRotVelocity>
-            <motorConstant>8.54858e-06</motorConstant>
-            <momentConstant>0.016</momentConstant>
-            <commandSubTopic>command/motor_speed</commandSubTopic>
-            <motorNumber>1</motorNumber>
-            <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-            <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-            <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-            <motorType>velocity</motorType>
-        </plugin>
-        <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-            <robotNamespace>model/drone0</robotNamespace>
-            <jointName>rotor_2_joint</jointName>
-            <linkName>rotor_2</linkName>
-            <turningDirection>cw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>800.0</maxRotVelocity>
-            <motorConstant>8.54858e-06</motorConstant>
-            <momentConstant>0.016</momentConstant>
-            <commandSubTopic>command/motor_speed</commandSubTopic>
-            <motorNumber>2</motorNumber>
-            <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-            <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-            <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-            <motorType>velocity</motorType>
-        </plugin>
-        <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-            <robotNamespace>model/drone0</robotNamespace>
-            <jointName>rotor_3_joint</jointName>
-            <linkName>rotor_3</linkName>
-            <turningDirection>cw</turningDirection>
-            <timeConstantUp>0.0125</timeConstantUp>
-            <timeConstantDown>0.025</timeConstantDown>
-            <maxRotVelocity>800.0</maxRotVelocity>
-            <motorConstant>8.54858e-06</motorConstant>
-            <momentConstant>0.016</momentConstant>
-            <commandSubTopic>command/motor_speed</commandSubTopic>
-            <motorNumber>3</motorNumber>
-            <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-            <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-            <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-            <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-            <motorType>velocity</motorType>
-        </plugin>
-
-        <!-- Velocity Controller -->
-        <plugin filename="gz-sim-multicopter-control-system" name="gz::sim::systems::MulticopterVelocityControl">
-            <robotNamespace>model/drone0</robotNamespace>
-            <commandSubTopic>cmd_vel</commandSubTopic>
-            <motorControlPubTopic>command/motor_speed</motorControlPubTopic>
-            <enableSubTopic>velocity_controller/enable</enableSubTopic>
-            <comLinkName>base_link</comLinkName>
-            <velocityGain>2.7 2.7 2.7</velocityGain>
-            <attitudeGain>2 3 0.15</attitudeGain>
-            <angularRateGain>0.4 0.52 0.18</angularRateGain>
-            <maximumLinearAcceleration>1 1 2</maximumLinearAcceleration>
-            <maximumLinearVelocity>5 5 5</maximumLinearVelocity>
-            <maximumAngularVelocity>3 3 3</maximumAngularVelocity>
-            <linearVelocityNoiseMean>0 0 0.05</linearVelocityNoiseMean>
-            <!-- linearVelocityNoiseStdDev based on error values reported in the paper Shen et. al., -->
-            <!-- Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with
-            a Quadrotor -->
-            <!-- http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.490.7958&rep=rep1&type=pdf -->
-            <linearVelocityNoiseStdDev>0.1105 0.1261 0.00947</linearVelocityNoiseStdDev>
-            <angularVelocityNoiseMean>0 0 0</angularVelocityNoiseMean>
-            <!-- angularVelocityNoiseStdDev values based on ADIS16448's Rate Noise Density with a
-            sample  -->
-            <!-- time of 0.004 ms. -->
-            <angularVelocityNoiseStdDev>0.004 0.004 0.004</angularVelocityNoiseStdDev>
-            <rotorConfiguration>
-                <rotor>
-                    <jointName>rotor_0_joint</jointName>
-                    <forceConstant>8.54858e-06</forceConstant>
-                    <momentConstant>0.016</momentConstant>
-                    <direction>1</direction>
-                </rotor>
-                <rotor>
-                    <jointName>rotor_1_joint</jointName>
-                    <forceConstant>8.54858e-06</forceConstant>
-                    <momentConstant>0.016</momentConstant>
-                    <direction>1</direction>
-                </rotor>
-                <rotor>
-                    <jointName>rotor_2_joint</jointName>
-                    <forceConstant>8.54858e-06</forceConstant>
-                    <momentConstant>0.016</momentConstant>
-                    <direction>-1</direction>
-                </rotor>
-                <rotor>
-                    <jointName>rotor_3_joint</jointName>
-                    <forceConstant>8.54858e-06</forceConstant>
-                    <momentConstant>0.016</momentConstant>
-                    <direction>-1</direction>
-                </rotor>
-            </rotorConfiguration>
-        </plugin>
-
-        <!-- Odometry aka Ground Truth (no noise) -->
-        <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
-            <dimensions>3</dimensions>
-            <odom_publish_frequency>100</odom_publish_frequency>
-        </plugin>
-
-        <!-- IMU -->
-        <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
-        </plugin>
-
-        <!-- Payload: Frontal and Ventral Cameras -->
-        <link name="frontal_cam">
-            <inertial>
-                <pose>0 0 0.05 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 0 0.05 0 0 0</pose>
-            <sensor name="camera" type="camera">
-                <always_on>true</always_on>
-                <visualize>true</visualize>
-                <update_rate>30</update_rate>
-                <topic>drone0/frontal_cam/image_raw</topic>
-                <gz_frame_id>camera_rgb_frame</gz_frame_id>
-                <camera name="intel_realsense_r200">
-                    <camera_info_topic>drone0/frontal_cam/camera_info</camera_info_topic>
-                    <horizontal_fov>1.02974</horizontal_fov>
-                    <image>
-                        <width>320</width>
-                        <height>240</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.02</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0.0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-        </link>
-
-        <link name="ventral_cam">
-            <inertial>
-                <pose>0 0 -0.05 0 1.57 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 0 -0.05 0 1.57 0</pose>
-            <sensor name="camera" type="camera">
-                <always_on>true</always_on>
-                <visualize>true</visualize>
-                <update_rate>30</update_rate>
-                <topic>drone0/ventral_cam/image_raw</topic>
-                <gz_frame_id>camera_rgb_frame</gz_frame_id>
-                <camera name="intel_realsense_r200">
-                    <camera_info_topic>drone0/ventral_cam/camera_info</camera_info_topic>
-                    <horizontal_fov>1.02974</horizontal_fov>
-                    <image>
-                        <width>320</width>
-                        <height>240</height>
-                        <format>R8G8B8</format>
-                    </image>
-                    <clip>
-                        <near>0.02</near>
-                        <far>300</far>
-                    </clip>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0.0</mean>
-                        <stddev>0.007</stddev>
-                    </noise>
-                </camera>
-            </sensor>
-        </link>
-
-        <joint name="frontal_cam_joint" type="fixed">
-            <parent>base_link</parent>
-            <child>frontal_cam</child>
-        </joint>
-
-        <joint name="ventral_cam_joint" type="fixed">
-            <parent>base_link</parent>
-            <child>ventral_cam</child>
-        </joint>
-
-    </model>
-</sdf>
\ No newline at end of file
diff --git a/CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro b/CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro
index 3de702d7e..b565b48e8 100644
--- a/CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro
+++ b/CustomRobots/quadrotor/models/quadrotor/quadrotor.urdf.xacro
@@ -3,7 +3,7 @@
   xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:arg name="camera" default="true"/>
-  <xacro:arg name="namespace" default="drone0"/>
+  <xacro:arg name="namespace" default="drone"/>
   <xacro:property name="namespace" value="$(arg namespace)"/>
 
   <xacro:include filename="$(find custom_robots)/models/quadrotor/quadrotor_gz.urdf.xacro"/>
diff --git a/CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro b/CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro
index 913703ff3..d4bad8cba 100644
--- a/CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro
+++ b/CustomRobots/quadrotor/models/quadrotor/quadrotor_common.urdf.xacro
@@ -10,7 +10,7 @@
     <color rgba="0 0 1 1.0"/>
   </material>
 
-  <xacro:macro name="rotor" params="rotor parent xyz color namespace">
+  <xacro:macro name="rotor" params="rotor parent xyz color">
     <link name='rotor_${rotor}'>
       <inertial>
         <mass value="0.005"/>
@@ -86,14 +86,14 @@
       </visual>
     </link>
 
-    <xacro:rotor rotor="0" parent="base_link" xyz="0.13 -0.22 0.023" color="Blue" namespace="${namespace}"/>
-    <xacro:rotor rotor="1" parent="base_link" xyz="-0.13 0.2 0.023" color="Red" namespace="${namespace}"/>
-    <xacro:rotor rotor="2" parent="base_link" xyz="0.13 0.22 0.023" color="Blue" namespace="${namespace}"/>
-    <xacro:rotor rotor="3" parent="base_link" xyz="-0.13 -0.2 0.023" color="Red" namespace="${namespace}"/>
+    <xacro:rotor rotor="0" parent="base_link" xyz="0.13 -0.22 0.023" color="Blue"/>
+    <xacro:rotor rotor="1" parent="base_link" xyz="-0.13 0.2 0.023" color="Red"/>
+    <xacro:rotor rotor="2" parent="base_link" xyz="0.13 0.22 0.023" color="Blue"/>
+    <xacro:rotor rotor="3" parent="base_link" xyz="-0.13 -0.2 0.023" color="Red"/>
 
     <xacro:tf freq="100"/>
     <xacro:imu mass="0.005" parent="base_link" namespace="${namespace}"/>
-    <xacro:odom topic="odom" freq="100" namespace="${namespace}"/>
+    <xacro:odom freq="100" namespace="${namespace}"/>
     <xacro:motors namespace="${namespace}"/>
     <xacro:velocity namespace="${namespace}"/>
   </xacro:macro>
diff --git a/CustomRobots/quadrotor/models/quadrotor/quadrotor_gz.urdf.xacro b/CustomRobots/quadrotor/models/quadrotor/quadrotor_gz.urdf.xacro
index 400fd85fb..b5f28b451 100644
--- a/CustomRobots/quadrotor/models/quadrotor/quadrotor_gz.urdf.xacro
+++ b/CustomRobots/quadrotor/models/quadrotor/quadrotor_gz.urdf.xacro
@@ -100,12 +100,12 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="odom" params="topic freq namespace">
+  <xacro:macro name="odom" params="freq namespace">
     <gazebo>
       <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
         <!-- <odom_frame>odom</odom_frame>
         <robot_base_frame>base_link</robot_base_frame>
-        <odom_topic>${topic}</odom_topic> -->
+        <odom_topic>/model/${namespace}/odometry</odom_topic> -->
         <odom_publish_frequency>${freq}</odom_publish_frequency>
         <dimensions>3</dimensions>
       </plugin>
diff --git a/CustomRobots/quadrotor/params/quadrotor_camera.yaml b/CustomRobots/quadrotor/params/quadrotor_camera.yaml
index d4059ec7d..80fce5e01 100644
--- a/CustomRobots/quadrotor/params/quadrotor_camera.yaml
+++ b/CustomRobots/quadrotor/params/quadrotor_camera.yaml
@@ -1,10 +1,3 @@
-# Clock
-- ros_topic_name: "/clock"
-  gz_topic_name: "/clock"
-  ros_type_name: "rosgraph_msgs/msg/Clock"
-  gz_type_name: "gz.msgs.Clock"
-  direction: GZ_TO_ROS
-
 # gz topic published by IMU plugin
 - ros_topic_name: "sensor_measurements/imu"
   gz_topic_name: "/world/default/model/drone0/model/imu/link/internal/sensor/imu/imu"
@@ -19,24 +12,12 @@
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/tf"
-  gz_topic_name: "/world/default/model/drone0/pose"
-  ros_type_name: "tf2_msgs/msg/TFMessage"
-  gz_type_name: "gz.msgs.Pose_V"
-  direction: GZ_TO_ROS
-
 - ros_topic_name: "/tf"
   gz_topic_name: "/model/drone0/pose_static"
   ros_type_name: "tf2_msgs/msg/TFMessage"
   gz_type_name: "gz.msgs.Pose_V"
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/tf"
-  gz_topic_name: "/world/default/model/drone0/pose_static"
-  ros_type_name: "tf2_msgs/msg/TFMessage"
-  gz_type_name: "gz.msgs.Pose_V"
-  direction: GZ_TO_ROS
-
 # Battery plugin
 - ros_topic_name: "sensor_measurements/battery"
   gz_topic_name: "/model/drone0/battery/linear_battery/state"
@@ -56,28 +37,3 @@
   ros_type_name: "std_msgs/msg/Bool"
   gz_type_name: "gz.msgs.Boolean"
   direction: ROS_TO_GZ
-
-# Payload plugin
-- ros_topic_name: "sensor_measurements/frontal_camera/image_raw"
-  gz_topic_name: "/world/default/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/image"
-  ros_type_name: "sensor_msgs/msg/Image"
-  gz_type_name: "gz.msgs.Image"
-  direction: GZ_TO_ROS
-
-- ros_topic_name: "sensor_measurements/frontal_camera/camera_info"
-  gz_topic_name: "/world/default/model/drone0/model/frontal_cam/link/hd_camera/sensor/camera/camera_info"
-  ros_type_name: "sensor_msgs/msg/CameraInfo"
-  gz_type_name: "gz.msgs.CameraInfo"
-  direction: GZ_TO_ROS
-
-- ros_topic_name: "sensor_measurements/ventral_camera/image_raw"
-  gz_topic_name: "/world/default/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/image"
-  ros_type_name: "sensor_msgs/msg/Image"
-  gz_type_name: "gz.msgs.Image"
-  direction: GZ_TO_ROS
-
-- ros_topic_name: "sensor_measurements/ventral_camera/camera_info"
-  gz_topic_name: "/world/default/model/drone0/model/ventral_cam/link/hd_camera/sensor/camera/camera_info"
-  ros_type_name: "sensor_msgs/msg/CameraInfo"
-  gz_type_name: "gz.msgs.CameraInfo"
-  direction: GZ_TO_ROS
diff --git a/CustomRobots/turtlebot3/launch/turtlebot3.launch.py b/CustomRobots/turtlebot3/launch/turtlebot3.launch.py
index 3eb768b62..76fb888d1 100644
--- a/CustomRobots/turtlebot3/launch/turtlebot3.launch.py
+++ b/CustomRobots/turtlebot3/launch/turtlebot3.launch.py
@@ -19,14 +19,16 @@ def launch_setup(context):
     Y = LaunchConfiguration("Y")
     gz_sensor = LaunchConfiguration("sensor")
     gz_noise = LaunchConfiguration("noise")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
 
     package_dir = get_package_share_directory("custom_robots")
 
     nodes_to_start = []
 
     sensor = gz_sensor.perform(context)
-
-    bridge_yaml = os.path.join(package_dir, "params", f"turtlebot3.yaml")
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
 
     # =========================
     # ROBOT DESCRIPTION (URDF)
@@ -43,20 +45,17 @@ def launch_setup(context):
         mappings={
             "camera": "true" if sensor == "camera" else "false",
             "noise_level": gz_noise.perform(context),
+            "namespace": namespace,
         },
     ).toxml()
 
-    ## Temporary SDF load
-    # sdf_file = os.path.join(package_dir, 'models', 'turtlebot3', 'turtlebot3.sdf')
-    # with open(sdf_file, 'r') as infp:
-    #     robot_description_content = infp.read()
-
     robot_description = {"robot_description": robot_description_content}
 
     robot_state_publisher_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="robot_state_publisher",
+        namespace=gz_namespace,
         output="screen",
         parameters=[robot_description, {"use_sim_time": True}],
     )
@@ -64,11 +63,12 @@ def launch_setup(context):
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
+        namespace=gz_namespace,
         arguments=[
             "-topic",
-            "/robot_description",
+            f"/{namespace}/robot_description",
             "-name",
-            "turtlebot3",
+            entity,
             "-allow_renaming",
             "true",
             "-x",
@@ -90,7 +90,11 @@ def launch_setup(context):
     gz_ros2_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=["--ros-args", "-p", f"config_file:={bridge_yaml}"],
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
+        ],
         output="screen",
     )
 
@@ -103,30 +107,41 @@ def launch_setup(context):
         gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=["/turtlebot3/camera/image_raw"],
+            namespace=gz_namespace,
+            arguments=[f"/{namespace}/camera/image_raw"],
             output="screen",
         )
 
         nodes_to_start.append(gz_ros2_image_bridge)
+    elif sensor == "laser":
+        gz_ros2_laser_bridge = Node(
+            package="ros_gz_bridge",
+            executable="parameter_bridge",
+            namespace=gz_namespace,
+            arguments=[
+                f"/{namespace}/laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+            ],
+            output="screen",
+        )
+        nodes_to_start.append(gz_ros2_laser_bridge)
 
     return nodes_to_start
 
 
 def generate_launch_description():
-    declared_arguments = []
-
-    # Add any entry parameter
-    declared_arguments.append(
-        DeclareLaunchArgument("use_sim_time", default_value="true")
-    )
-    declared_arguments.append(DeclareLaunchArgument("x", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("z", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("sensor", default_value="camera"))
-    declared_arguments.append(DeclareLaunchArgument("noise", default_value="none"))
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("sensor", default_value="camera"),
+        DeclareLaunchArgument("noise", default_value="none"),
+        DeclareLaunchArgument("namespace", default_value="turtlebot3"),
+        DeclareLaunchArgument("entity", default_value="turtlebot3"),
+    ]
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
diff --git a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3.urdf.xacro b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3.urdf.xacro
index c80383c79..955221a90 100644
--- a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3.urdf.xacro
+++ b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3.urdf.xacro
@@ -4,7 +4,9 @@
 
   <xacro:arg name="camera" default="true"/>
   <xacro:arg name="noise_level" default="none"/>
+  <xacro:arg name="namespace" default="vacuum_cleaner"/>
   <xacro:property name="noise_level" value="$(arg noise_level)"/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
 
   <!-- Odometry noise per difficulty (drift std ~ alpha*sqrt(distance)). -->
   <xacro:if value="${noise_level == 'low'}">
@@ -31,13 +33,13 @@
   <xacro:include filename="$(find custom_robots)/models/turtlebot3/turtlebot3_gz.urdf.xacro"/>
   <xacro:include filename="$(find custom_robots)/models/turtlebot3/turtlebot3_common.urdf.xacro"/>
 
-  <xacro:turtlebot3/>
+  <xacro:turtlebot3 namespace="${namespace}"/>
 
   <xacro:if value="$(arg camera)">
-    <xacro:camera xyz="0.069 -0.047 0.107" rpy="0 0 0" name="camera_rgb" parent="camera_link" topic="turtlebot3/camera"/>
+    <xacro:camera xyz="0.069 -0.047 0.107" rpy="0 0 0" name="camera" parent="camera_base_link" namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:unless value="${noise_level == 'none'}">
-    <xacro:noise_odom topic="/turtlebot3/odom_noisy" a1="${a1}" a2="${a2}" a3="${a3}" a4="${a4}"/>
+    <xacro:noise_odom a1="${a1}" a2="${a2}" a3="${a3}" a4="${a4}" namespace="${namespace}"/>
   </xacro:unless>
 </robot>
diff --git a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_common.urdf.xacro b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_common.urdf.xacro
index a2e525416..a958e3cd4 100644
--- a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_common.urdf.xacro
+++ b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_common.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find custom_robots)/models/turtlebot3/turtlebot3_gz.urdf.xacro"/>
 
-  <xacro:macro name="turtlebot3">
+  <xacro:macro name="turtlebot3" params="namespace">
     <!-- Init colour -->
     <material name="black">
       <color rgba="0.0 0.0 0.0 1.0"/>
@@ -79,7 +79,7 @@
       </visual>
     </link>
 
-    <link name="camera_link"/>
+    <link name="camera_base_link"/>
 
     <joint name="base_to_base_link" type="fixed">
       <parent link="base_footprint"/>
@@ -90,7 +90,7 @@
 
     <joint name="camera_joint" type="fixed">
       <parent link="base_link"/>
-      <child link="camera_link"/>
+      <child link="camera_base_link"/>
       <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
       <axis xyz="0 0 1"/>
     </joint>
@@ -154,9 +154,9 @@
       </inertial>
     </link>
 
-    <xacro:imu parent="imu_link" topic="turtlebot3/imu" xyz="-0.032 0 0.068" rpy="0 0 0"/>
-    <xacro:laser xyz="-0.064 0 0.121" rpy="0 0 0" name="lidar" parent="base_link" topic="turtlebot3/laser/scan"/>
-    <xacro:velocity topic="turtlebot3/cmd_vel"/>
-    <xacro:odom topic="/turtlebot3/odom" freq="50"/>
+    <xacro:imu parent="imu_link" xyz="-0.032 0 0.068" rpy="0 0 0" namespace="${namespace}"/>
+    <xacro:laser xyz="-0.064 0 0.121" rpy="0 0 0" name="laser" parent="base_link" namespace="${namespace}"/>
+    <xacro:velocity namespace="${namespace}"/>
+    <xacro:odom namespace="${namespace}" freq="50"/>
   </xacro:macro>
 </robot>
diff --git a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_gz.urdf.xacro b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_gz.urdf.xacro
index 1330df498..403a98d26 100644
--- a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_gz.urdf.xacro
+++ b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_gz.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="camera" params="xyz rpy name parent topic">
+  <xacro:macro name="camera" params="xyz rpy name parent namespace">
 
     <link name="${name}_link">
       <inertial>
@@ -20,10 +20,10 @@
         <always_on>true</always_on>
         <visualize>true</visualize>
         <update_rate>30</update_rate>
-        <topic>/${topic}/image_raw</topic>
+        <topic>/${namespace}/${name}/image_raw</topic>
         <gz_frame_id>${name}_link</gz_frame_id>
         <camera name="${name}">
-          <camera_info_topic>/${topic}/camera_info</camera_info_topic>
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
           <horizontal_fov>1.02974</horizontal_fov>
           <image>
             <width>640</width>
@@ -44,7 +44,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="laser" params="xyz rpy name parent topic">
+  <xacro:macro name="laser" params="xyz rpy name parent namespace">
     <link name="${name}_link">
       <inertial>
         <origin xyz="-0.052 0 0.111" rpy="0 0 0"/>
@@ -76,7 +76,7 @@
         <always_on>1</always_on>
         <visualize>1</visualize>
         <update_rate>5</update_rate>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/${name}/scan</topic>
         <gz_frame_id>${name}_link</gz_frame_id>
         <lidar>
           <scan>
@@ -97,7 +97,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="imu" params="parent topic xyz rpy">
+  <xacro:macro name="imu" params="parent namespace xyz rpy">
     <gazebo>
       <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
       </plugin>
@@ -116,7 +116,7 @@
       <sensor name='imu' type='imu'>
         <always_on>1</always_on>
         <update_rate>200</update_rate>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/imu</topic>
         <imu>
           <angular_velocity>
             <x>
@@ -164,7 +164,7 @@
   </xacro:macro>
 
 
-  <xacro:macro name="velocity" params="topic">
+  <xacro:macro name="velocity" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
         <!-- wheels -->
@@ -178,7 +178,7 @@
         <!-- limits -->
         <max_linear_acceleration>1.0</max_linear_acceleration>
 
-        <topic>${topic}</topic>
+        <topic>/${namespace}/cmd_vel</topic>
 
         <frame_id>odom</frame_id>
         <!-- <tf_topic>/tf</tf_topic> -->
@@ -189,22 +189,22 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="odom" params="topic freq">
+  <xacro:macro name="odom" params="namespace freq">
     <gazebo>
       <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
         <odom_frame>odom</odom_frame>
         <robot_base_frame>base_footprint</robot_base_frame>
         <odom_publish_frequency>${freq}</odom_publish_frequency>
-        <odom_topic>${topic}</odom_topic>
+        <odom_topic>/${namespace}/odom</odom_topic>
         <dimensions>3</dimensions>
       </plugin>
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="noise_odom" params="topic a1 a2 a3 a4">
+  <xacro:macro name="noise_odom" params="namespace a1 a2 a3 a4">
     <gazebo>
       <plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
-        <ros_topic>${topic}</ros_topic>
+        <ros_topic>/${namespace}/odom_noisy</ros_topic>
         <frame_id>odom</frame_id>
         <child_frame_id>base</child_frame_id>
 
diff --git a/CustomRobots/vacuum_cleaner/launch/vacuum_cleaner.launch.py b/CustomRobots/vacuum_cleaner/launch/vacuum_cleaner.launch.py
index 8e3a022f4..b5488b947 100644
--- a/CustomRobots/vacuum_cleaner/launch/vacuum_cleaner.launch.py
+++ b/CustomRobots/vacuum_cleaner/launch/vacuum_cleaner.launch.py
@@ -18,14 +18,16 @@ def launch_setup(context):
     P = LaunchConfiguration("P")
     Y = LaunchConfiguration("Y")
     gz_sensor = LaunchConfiguration("sensor")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
 
     package_dir = get_package_share_directory("custom_robots")
 
     nodes_to_start = []
 
     sensor = gz_sensor.perform(context)
-
-    bridge_yaml = os.path.join(package_dir, "params", f"vacuum_cleaner_{sensor}.yaml")
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
 
     # =========================
     # ROBOT DESCRIPTION (URDF)
@@ -42,6 +44,7 @@ def launch_setup(context):
         mappings={
             "camera": "true" if sensor == "camera" else "false",
             "laser": "true" if sensor == "laser" else "false",
+            "namespace": namespace,
         },
     ).toxml()
     # if sensor == "camera":
@@ -59,6 +62,7 @@ def launch_setup(context):
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="robot_state_publisher",
+        namespace=gz_namespace,
         output="screen",
         parameters=[robot_description, {"use_sim_time": True}],
     )
@@ -66,11 +70,12 @@ def launch_setup(context):
     gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
+        namespace=gz_namespace,
         arguments=[
             "-topic",
-            "/robot_description",
+            f"/{namespace}/robot_description",
             "-name",
-            "vacuum_cleaner",
+            entity,
             "-allow_renaming",
             "true",
             "-x",
@@ -92,7 +97,15 @@ def launch_setup(context):
     gz_ros2_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
-        arguments=["--ros-args", "-p", f"config_file:={bridge_yaml}"],
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
+            f"/{namespace}/laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+            f"/{namespace}/events/center_bumper@ros_gz_interfaces/msg/Contacts[gz.msgs.Contacts",
+            f"/{namespace}/events/right_bumper@ros_gz_interfaces/msg/Contacts[gz.msgs.Contacts",
+            f"/{namespace}/events/left_bumper@ros_gz_interfaces/msg/Contacts[gz.msgs.Contacts",
+        ],
         output="screen",
     )
 
@@ -105,7 +118,8 @@ def launch_setup(context):
         gz_ros2_image_bridge = Node(
             package="ros_gz_image",
             executable="image_bridge",
-            arguments=["/camera/image_raw"],
+            namespace=gz_namespace,
+            arguments=[f"/{namespace}/camera/image_raw"],
             output="screen",
         )
         nodes_to_start.append(gz_ros2_image_bridge)
@@ -114,19 +128,18 @@ def launch_setup(context):
 
 
 def generate_launch_description():
-    declared_arguments = []
-
-    # Add any entry parameter
-    declared_arguments.append(
-        DeclareLaunchArgument("use_sim_time", default_value="true")
-    )
-    declared_arguments.append(DeclareLaunchArgument("x", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("z", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
-    declared_arguments.append(DeclareLaunchArgument("sensor", default_value="laser"))
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("sensor", default_value="laser"),
+        DeclareLaunchArgument("namespace", default_value="vacuum_cleaner"),
+        DeclareLaunchArgument("entity", default_value="vacuum_cleaner"),
+    ]
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
diff --git a/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner.urdf.xacro b/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner.urdf.xacro
index 333315c19..166b4764d 100644
--- a/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner.urdf.xacro
+++ b/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner.urdf.xacro
@@ -4,17 +4,19 @@
 
   <xacro:arg name="camera" default="true"/>
   <xacro:arg name="laser" default="false"/>
+  <xacro:arg name="namespace" default="vacuum_cleaner"/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
 
   <xacro:include filename="$(find custom_robots)/models/vacuum_cleaner/vacuum_cleaner_gz.urdf.xacro"/>
   <xacro:include filename="$(find custom_robots)/models/vacuum_cleaner/vacuum_cleaner_common.urdf.xacro"/>
 
-  <xacro:vacuum_cleaner/>
+  <xacro:vacuum_cleaner namespace="${namespace}"/>
 
   <xacro:if value="$(arg camera)">
-    <xacro:camera xyz="0 0 0" rpy="0 -1.57 0" name="camera" parent="base"/>
+    <xacro:camera xyz="0 0 0" rpy="0 -1.57 0" name="camera" parent="base" namespace="${namespace}"/>
   </xacro:if>
 
   <xacro:if value="$(arg laser)">
-    <xacro:laser xyz="0.139 0 0.0752" rpy="0 0 0" name="laser" parent="base" topic="/roombaROS/laser/scan"/>
+    <xacro:laser xyz="0.139 0 0.0752" rpy="0 0 0" name="laser" parent="base" namespace="${namespace}"/>
   </xacro:if>
 </robot>
diff --git a/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner_common.urdf.xacro b/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner_common.urdf.xacro
index aad456cd7..7bc9c7b06 100644
--- a/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner_common.urdf.xacro
+++ b/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner_common.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find custom_robots)/models/vacuum_cleaner/vacuum_cleaner_gz.urdf.xacro"/>
 
-  <xacro:macro name="vacuum_cleaner">
+  <xacro:macro name="vacuum_cleaner" params="namespace">
     <gazebo>
       <plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system"></plugin>
     </gazebo>
@@ -40,7 +40,7 @@
         </geometry>
       </collision>
     </link>
-    <xacro:bumper topic="/roombaROS/events/right_bumper" name="right_bumper"/>
+    <xacro:bumper topic="events/right_bumper" name="right_bumper" namespace="${namespace}"/>
 
     <joint name="center_bumper_joint" type="fixed">
       <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
@@ -55,7 +55,7 @@
         </geometry>
       </collision>
     </link>
-    <xacro:bumper topic="/roombaROS/events/center_bumper" name="center_bumper"/>
+    <xacro:bumper topic="events/center_bumper" name="center_bumper" namespace="${namespace}"/>
 
     <joint name="left_bumper_joint" type="fixed">
       <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
@@ -70,7 +70,7 @@
         </geometry>
       </collision>
     </link>
-    <xacro:bumper topic="/roombaROS/events/left_bumper" name="left_bumper"/>
+    <xacro:bumper topic="events/left_bumper" name="left_bumper" namespace="${namespace}"/>
 
     <joint name="front_wheel_joint" type="fixed">
       <origin rpy="0 1.570700 1.570700" xyz="0.13 0 0.017"/>
@@ -170,8 +170,8 @@
       </visual>
     </link>
 
-    <xacro:velocity topic="/roombaROS/cmd_vel"/>
-    <xacro:odom topic="/roombaROS/odom" freq="20"/>
-    <xacro:noise_odom topic="/odom_noisy"/>
+    <xacro:velocity namespace="${namespace}"/>
+    <xacro:odom freq="20" namespace="${namespace}"/>
+    <xacro:noise_odom namespace="${namespace}"/>
   </xacro:macro>
 </robot>
diff --git a/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner_gz.urdf.xacro b/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner_gz.urdf.xacro
index c7b6df966..3d0f51ba7 100644
--- a/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner_gz.urdf.xacro
+++ b/CustomRobots/vacuum_cleaner/models/vacuum_cleaner/vacuum_cleaner_gz.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="vacuum_cleaner_gz"
   xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="camera" params="xyz rpy name parent">
+  <xacro:macro name="camera" params="xyz rpy name parent namespace">
 
     <link name="${name}_link"></link>
 
@@ -16,9 +16,9 @@
         <always_on>true</always_on>
         <visualize>false</visualize>
         <update_rate>20</update_rate>
-        <topic>/${name}/image_raw</topic>
+        <topic>/${namespace}/${name}/image_raw</topic>
         <camera name="camera">
-          <camera_info_topic>/${name}/camera_info</camera_info_topic>
+          <camera_info_topic>/${namespace}/${name}/camera_info</camera_info_topic>
           <horizontal_fov>1.089</horizontal_fov>
           <distortion>
             <k1>0.0</k1>
@@ -47,7 +47,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="laser" params="xyz rpy name parent topic">
+  <xacro:macro name="laser" params="xyz rpy name parent namespace">
     <link name="${name}_link">
       <visual>
         <geometry>
@@ -67,7 +67,7 @@
         <always_on>1</always_on>
         <visualize>1</visualize>
         <update_rate>20</update_rate>
-        <topic>${topic}</topic>
+        <topic>/${namespace}/laser/scan</topic>
         <gz_frame_id>laser</gz_frame_id>
         <lidar>
           <scan>
@@ -88,7 +88,7 @@
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="bumper" params="topic name">
+  <xacro:macro name="bumper" params="topic name namespace">
     <gazebo reference="${name}">
       <mu1>0.1</mu1>
       <mu2>0.1</mu2>
@@ -102,7 +102,7 @@
         <visualize>true</visualize>
         <contact>
           <collision>${name}_collision</collision>
-          <topic>${topic}</topic>
+          <topic>/${namespace}/${topic}</topic>
         </contact>
       </sensor>
 
@@ -110,30 +110,30 @@
 
   </xacro:macro>
 
-  <xacro:macro name="velocity" params="topic">
+  <xacro:macro name="velocity" params="namespace">
     <gazebo>
       <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
-        <topic>${topic}</topic>
+        <topic>/${namespace}/cmd_vel</topic>
       </plugin>
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="odom" params="topic freq">
+  <xacro:macro name="odom" params="freq namespace">
     <gazebo>
       <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
         <odom_frame>odom</odom_frame>
         <robot_base_frame>base</robot_base_frame>
         <odom_publish_frequency>${freq}</odom_publish_frequency>
-        <odom_topic>${topic}</odom_topic>
+        <odom_topic>/${namespace}/odom</odom_topic>
         <dimensions>3</dimensions>
       </plugin>
     </gazebo>
   </xacro:macro>
 
-  <xacro:macro name="noise_odom" params="topic">
+  <xacro:macro name="noise_odom" params="namespace">
     <gazebo>
       <plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
-        <ros_topic>${topic}</ros_topic>
+        <ros_topic>/${namespace}/odom_noisy</ros_topic>
         <frame_id>odom</frame_id>
         <child_frame_id>base</child_frame_id>
 
diff --git a/Launchers/follow_person_teleop_harmonic.launch.py b/Launchers/follow_person_teleop_harmonic.launch.py
index 2cf78378f..10b99c389 100644
--- a/Launchers/follow_person_teleop_harmonic.launch.py
+++ b/Launchers/follow_person_teleop_harmonic.launch.py
@@ -32,8 +32,18 @@ def generate_launch_description():
         output="screen",
     )
 
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "/person/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist",
+        ],
+        output="screen",
+    )
+
     ld = LaunchDescription()
     ld.add_action(gazebo_server)
     ld.add_action(world_entity_cmd)
+    ld.add_action(gz_ros2_bridge)
 
     return ld
diff --git a/Launchers/rescue_people.launch.py b/Launchers/rescue_people.launch.py
index ec3bf3db2..2507a43c7 100755
--- a/Launchers/rescue_people.launch.py
+++ b/Launchers/rescue_people.launch.py
@@ -32,8 +32,18 @@ def generate_launch_description():
         output="screen",
     )
 
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+        ],
+        output="screen",
+    )
+
     ld = LaunchDescription()
     ld.add_action(gazebo_server)
     ld.add_action(world_entity_cmd)
+    ld.add_action(gz_ros2_bridge)
 
     return ld
diff --git a/database/worlds.sql b/database/worlds.sql
index 9a8de8d81..0d9fba2d0 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -308,28 +308,28 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type,
 
 COPY public.robots (id, name, launch_file_path, entity, extra_config) FROM stdin;
 1	Ur5	/home/ws/src/CustomRobots/robot_arms/launch/ur5.launch.py	ur5_robotiq	None
-2	F1 Holonomic Camera	/home/ws/src/CustomRobots/f1/launch/f1.launch.py	f1	mode:=holo sensor:=camera
-3	F1 Holonomic Laser	/home/ws/src/CustomRobots/f1/launch/f1.launch.py	f1	mode:=holo sensor:=laser
-4	F1 Ackermann Camera	/home/ws/src/CustomRobots/f1/launch/f1.launch.py	f1	mode:=ackermann sensor:=camera
-5	F1 Ackermann Laser	/home/ws/src/CustomRobots/f1/launch/f1.launch.py	f1	mode:=ackermann sensor:=laser
-6	Autonomous car Camera	/home/ws/src/CustomRobots/autonomous_car/launch/autonomous_car.launch.py	autonomous_car	sensor:=camera
-7	Autonomous car Lidar	/home/ws/src/CustomRobots/autonomous_car/launch/autonomous_car.launch.py	autonomous_car	sensor:=lidar
-8	Autonomous car 3 Lasers	/home/ws/src/CustomRobots/autonomous_car/launch/autonomous_car.launch.py	autonomous_car	sensor:=laser
-9	Vacuum cleaner Laser	/home/ws/src/CustomRobots/vacuum_cleaner/launch/vacuum_cleaner.launch.py	vacuum_cleaner	sensor:=laser
-10	Vacuum cleaner Camera	/home/ws/src/CustomRobots/vacuum_cleaner/launch/vacuum_cleaner.launch.py	vacuum_cleaner	sensor:=camera
-11	Quadrotor	/home/ws/src/CustomRobots/quadrotor/launch/quadrotor.launch.py	drone0	sensor:=camera namespace:=drone0
+2	F1 Holonomic Camera	/home/ws/src/CustomRobots/f1/launch/f1.launch.py	f1	mode:=holo sensor:=camera namespace:=f1
+3	F1 Holonomic Laser	/home/ws/src/CustomRobots/f1/launch/f1.launch.py	f1	mode:=holo sensor:=laser namespace:=f1
+4	F1 Ackermann Camera	/home/ws/src/CustomRobots/f1/launch/f1.launch.py	f1	mode:=ackermann sensor:=camera namespace:=f1
+5	F1 Ackermann Laser	/home/ws/src/CustomRobots/f1/launch/f1.launch.py	f1	mode:=ackermann sensor:=laser namespace:=f1
+6	Autonomous car Camera	/home/ws/src/CustomRobots/autonomous_car/launch/autonomous_car.launch.py	autonomous_car	sensor:=camera namespace:=autonomous_car 
+7	Autonomous car Lidar	/home/ws/src/CustomRobots/autonomous_car/launch/autonomous_car.launch.py	autonomous_car	sensor:=lidar namespace:=autonomous_car 
+8	Autonomous car 3 Lasers	/home/ws/src/CustomRobots/autonomous_car/launch/autonomous_car.launch.py	autonomous_car	sensor:=laser namespace:=autonomous_car 
+9	Vacuum cleaner Laser	/home/ws/src/CustomRobots/vacuum_cleaner/launch/vacuum_cleaner.launch.py	vacuum_cleaner	sensor:=laser namespace:=vacuum_cleaner 
+10	Vacuum cleaner Camera	/home/ws/src/CustomRobots/vacuum_cleaner/launch/vacuum_cleaner.launch.py	vacuum_cleaner	sensor:=camera namespace:=vacuum_cleaner 
+11	Quadrotor	/home/ws/src/CustomRobots/quadrotor/launch/quadrotor.launch.py	drone	sensor:=camera namespace:=drone
 12	Rover 4wd	/home/ws/src/CustomRobots/rover_4wd/launch/rover_4wd.launch.py	rover_4wd	noise:=none
 13	Holonomic Logistic	/home/ws/src/CustomRobots/logistic_holonomic_robot/launch/logistic_holonomic_robot.launch.py	logistic_holonomic_robot	None
 14	Ackermann Logistic	/home/ws/src/CustomRobots/logistic_ackermann_robot/launch/logistic_ackermann_robot.launch.py	logistic_ackermann_robot	None
-15	TurtleBot 2	/home/ws/src/CustomRobots/Turtlebot2/launch/turtlebot2.launch.py	turtlebot2	sensor:=camera
-16	TurtleBot 2 Stereo	/home/ws/src/CustomRobots/Turtlebot2/launch/turtlebot2.launch.py	turtlebot2	sensor:=stereo
-17	Turtlebot 3	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	None
-18	Autonomous holonomic car	/home/ws/src/CustomRobots/autonomous_car/launch/autonomous_car.launch.py	autonomous_car	mode:=holonomic
+15	TurtleBot 2	/home/ws/src/CustomRobots/Turtlebot2/launch/turtlebot2.launch.py	turtlebot2	sensor:=camera namespace:=turtlebot2
+16	TurtleBot 2 Stereo	/home/ws/src/CustomRobots/Turtlebot2/launch/turtlebot2.launch.py	turtlebot2	sensor:=stereo namespace:=turtlebot2
+17	Turtlebot 3	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	namespace:=turtlebot3
+18	Autonomous holonomic car	/home/ws/src/CustomRobots/autonomous_car/launch/autonomous_car.launch.py	autonomous_car	mode:=holonomic namespace:=autonomous_car
 19	Rover 4wd Low Noise	/home/ws/src/CustomRobots/rover_4wd/launch/rover_4wd.launch.py	rover_4wd	noise:=low
 20	Rover 4wd High Noise	/home/ws/src/CustomRobots/rover_4wd/launch/rover_4wd.launch.py	rover_4wd	noise:=high
-21	Turtlebot 3 Low Noise	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	noise:=low
-22	Turtlebot 3 Medium Noise	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	noise:=med
-23	Turtlebot 3 High Noise	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	noise:=high
+21	Turtlebot 3 Low Noise	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	noise:=low namespace:=turtlebot3
+22	Turtlebot 3 Medium Noise	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	noise:=med namespace:=turtlebot3
+23	Turtlebot 3 High Noise	/home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3.launch.py	turtlebot3	noise:=high namespace:=turtlebot3
 24	Ur5 Camera	/home/ws/src/CustomRobots/robot_arms/launch/ur5.launch.py	ur5_robotiq	sensor:=camera
 25	Ur3	/home/ws/src/CustomRobots/robot_arms/launch/ur3.launch.py	ur3_robotiq	None
 26	Ur3 Camera	/home/ws/src/CustomRobots/robot_arms/launch/ur3.launch.py	ur3_robotiq	sensor:=camera
diff --git a/jderobot_drones/launch/as2_default_classic_gazebo.launch.py b/jderobot_drones/launch/as2_default_classic_gazebo.launch.py
deleted file mode 100644
index 99b8c9f67..000000000
--- a/jderobot_drones/launch/as2_default_classic_gazebo.launch.py
+++ /dev/null
@@ -1,112 +0,0 @@
-"""Launch file for Aerostack2 default classic Gazebo."""
-
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import (
-    IncludeLaunchDescription,
-    DeclareLaunchArgument,
-    ExecuteProcess,
-)
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-
-
-def generate_launch_description():
-    """Launch micro_xrce and aerostack2 nodes."""
-    # If needed
-    #    rviz_config = os.path.join(os.getcwd(), 'swarm_config.rviz')
-    #    print(f'{os.path.isfile(rviz_config)=}')
-    micro_xrce_cmd = ["MicroXRCEAgent", "udp4", "-p", "8888"]
-
-    micro_xrce = ExecuteProcess(cmd=micro_xrce_cmd, output="screen")
-
-    sim_config = os.path.join(
-        get_package_share_directory("jderobot_drones"), "sim_config/px4_classic"
-    )
-
-    aerial_platform = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                os.path.join(
-                    get_package_share_directory("as2_platform_pixhawk"), "launch"
-                ),
-                "/pixhawk_launch.py",
-            ]
-        ),
-        launch_arguments={
-            "namespace": LaunchConfiguration("namespace"),
-            "use_sim_time": "false",
-            "simulation_config_file": LaunchConfiguration("world_file"),
-            "platform_config_file": sim_config + "/platform_config.yaml",
-        }.items(),
-    )
-    state_estimator = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                os.path.join(
-                    get_package_share_directory("as2_state_estimator"), "launch"
-                ),
-                "/state_estimator_launch.py",
-            ]
-        ),
-        launch_arguments={
-            "namespace": LaunchConfiguration("namespace"),
-            "use_sim_time": "false",
-            "plugin_name": "raw_odometry",
-            "plugin_config_file": sim_config + "/state_estimator_odom.yaml",
-        }.items(),
-    )
-    motion_controller = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                os.path.join(
-                    get_package_share_directory("as2_motion_controller"), "launch"
-                ),
-                "/controller_launch.py",
-            ]
-        ),
-        launch_arguments={
-            "namespace": LaunchConfiguration("namespace"),
-            "use_sim_time": "false",
-            "motion_controller_config_file": sim_config + "/motion_controller.yaml",
-            "plugin_name": "pid_speed_controller",
-            "plugin_config_file": sim_config + "/pid_speed_controller.yaml",
-        }.items(),
-    )
-    _behaviors = IncludeLaunchDescription(  # noqa: F841
-        PythonLaunchDescriptionSource(
-            [
-                os.path.join(
-                    get_package_share_directory("as2_behaviors_motion"), "launch"
-                ),
-                "/motion_behaviors_launch.py",
-            ]
-        ),
-        launch_arguments={
-            "namespace": LaunchConfiguration("namespace"),
-            "use_sim_time": "false",
-            "takeoff_plugin_name": "takeoff_plugin_position",
-            "go_to_plugin_name": "go_to_plugin_position",
-            "follow_path_plugin_name": "follow_path_plugin_position",
-            "land_plugin_name": "land_plugin_speed",
-        }.items(),
-    )
-
-    return LaunchDescription(
-        [
-            DeclareLaunchArgument(
-                "namespace", default_value="drone0", description="Drone namespace."
-            ),
-            DeclareLaunchArgument(
-                "world_file",
-                default_value=sim_config + "/world.json",
-                description="json world file",
-            ),
-            micro_xrce,
-            aerial_platform,
-            state_estimator,
-            motion_controller,
-            # behaviors
-        ]
-    )
diff --git a/jderobot_drones/launch/as2_default_gazebo_sim.launch.py b/jderobot_drones/launch/as2_default_gazebo_sim.launch.py
index b8012f83d..adbe441fb 100644
--- a/jderobot_drones/launch/as2_default_gazebo_sim.launch.py
+++ b/jderobot_drones/launch/as2_default_gazebo_sim.launch.py
@@ -114,7 +114,7 @@ def generate_launch_description():
             # ground. so force sim time on for everything we start here.
             SetParameter(name="use_sim_time", value=True),
             DeclareLaunchArgument(
-                "namespace", default_value="drone0", description="Drone namespace."
+                "namespace", default_value="drone", description="Drone namespace."
             ),
             DeclareLaunchArgument(
                 "cmd_vel_topic",