diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f26253..81fde2f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,7 +8,7 @@ project(aws_robomaker_small_warehouse_world)
 # Find ament packages and libraries for ament and system dependencies
 ################################################################################
 find_package(ament_cmake REQUIRED)
-find_package(gazebo_ros REQUIRED)
+find_package(ros_gz_sim REQUIRED)
 
 ################################################################################
 # Install
@@ -21,7 +21,7 @@ install(
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/aws_robomaker_small_warehouse_world.dsv.in")
 
 ament_export_dependencies(ament_cmake)
-ament_export_dependencies(gazebo_ros)
+ament_export_dependencies(ros_gz_sim)
 
 ################################################################################
 # Macro for ament package
diff --git a/launch/small_warehouse.launch.py b/launch/small_warehouse.launch.py
index d9e2253..1a8ab3b 100644
--- a/launch/small_warehouse.launch.py
+++ b/launch/small_warehouse.launch.py
@@ -16,24 +16,18 @@
 
 from ament_index_python.packages import get_package_share_directory
 
-import launch
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
-from launch.conditions import IfCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, ExecuteProcess
+from launch.substitutions import LaunchConfiguration
+from launch.actions import SetEnvironmentVariable
 
 
 def generate_launch_description():
     # Get the launch directory
     aws_small_warehouse_dir = get_package_share_directory('aws_robomaker_small_warehouse_world')
-    gazebo_ros = get_package_share_directory('gazebo_ros')
     
     # Launch configuration variables specific to simulation
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    use_simulator = LaunchConfiguration('use_simulator')
-    headless = LaunchConfiguration('headless')
+
     world = LaunchConfiguration('world')
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(
@@ -51,17 +45,13 @@ def generate_launch_description():
         default_value=os.path.join(aws_small_warehouse_dir, 'worlds', 'small_warehouse', 'small_warehouse.world'),
         description='Full path to world model file to load')
 
-    # Specify the actions
-    start_gazebo_server_cmd = launch.actions.IncludeLaunchDescription(
-        launch.launch_description_sources.PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
-    )
+    model_path = os.path.join(aws_small_warehouse_dir, 'models')
+
+    gazebo_server_cmd_line = [
+        'gz', 'sim', '-r', '-v4', world]
 
-    start_gazebo_client_cmd = launch.actions.IncludeLaunchDescription(
-        launch.launch_description_sources.PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
-        condition=IfCondition(PythonExpression(['not ', headless]))
-    )
+    gazebo = ExecuteProcess(
+        cmd=gazebo_server_cmd_line, output='screen')
 
     # Create the launch description and populate
     ld = LaunchDescription()
@@ -70,9 +60,8 @@ def generate_launch_description():
     ld.add_action(declare_use_sim_time_cmd)
     ld.add_action(declare_simulator_cmd)
     ld.add_action(declare_world_cmd)
-
+    ld.add_action(SetEnvironmentVariable('GZ_SIM_RESOURCE_PATH', model_path))
     # Add any conditioned actions
-    ld.add_action(start_gazebo_server_cmd)
-    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(gazebo)
 
     return ld
diff --git a/models/aws_robomaker_warehouse_Bucket_01/model.sdf b/models/aws_robomaker_warehouse_Bucket_01/model.sdf
index 1a11c29..90b07d4 100644
--- a/models/aws_robomaker_warehouse_Bucket_01/model.sdf
+++ b/models/aws_robomaker_warehouse_Bucket_01/model.sdf
@@ -21,7 +21,7 @@
       <visual name='visual'>
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_visual.DAE</uri>
           </mesh>
         </geometry>
 		<meta> <layer> 1 </layer></meta>
@@ -32,7 +32,7 @@
         <pose frame=''>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_Bucket_01/meshes/aws_robomaker_warehouse_Bucket_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
diff --git a/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf b/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf
index e0ab80f..629f0fc 100644
--- a/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf
+++ b/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -44,7 +44,7 @@
       <visual name="visual">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_ClutteringC_01/model.sdf b/models/aws_robomaker_warehouse_ClutteringC_01/model.sdf
index 0a1802a..334a416 100644
--- a/models/aws_robomaker_warehouse_ClutteringC_01/model.sdf
+++ b/models/aws_robomaker_warehouse_ClutteringC_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -44,7 +44,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01/meshes/aws_robomaker_warehouse_ClutteringC_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_ClutteringD_01/model.sdf b/models/aws_robomaker_warehouse_ClutteringD_01/model.sdf
index 31da401..51ac2cd 100644
--- a/models/aws_robomaker_warehouse_ClutteringD_01/model.sdf
+++ b/models/aws_robomaker_warehouse_ClutteringD_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -44,7 +44,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ClutteringD_01/meshes/aws_robomaker_warehouse_ClutteringD_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_DeskC_01/model.sdf b/models/aws_robomaker_warehouse_DeskC_01/model.sdf
index 3fcbd97..0ae3cee 100644
--- a/models/aws_robomaker_warehouse_DeskC_01/model.sdf
+++ b/models/aws_robomaker_warehouse_DeskC_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +35,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_DeskC_01/meshes/aws_robomaker_warehouse_DeskC_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_GroundB_01/model.sdf b/models/aws_robomaker_warehouse_GroundB_01/model.sdf
index abab8b4..464a37b 100644
--- a/models/aws_robomaker_warehouse_GroundB_01/model.sdf
+++ b/models/aws_robomaker_warehouse_GroundB_01/model.sdf
@@ -4,19 +4,11 @@
     <link name="link">
       <inertial>
         <mass>1000</mass>
-		<inertia>
-          <ixx>1200083.33</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>8333416.66</iyy>
-          <iyz>0</iyz>
-          <izz>2033333.33</izz>
-        </inertia>
       </inertial>
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +27,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_GroundB_01/meshes/aws_robomaker_warehouse_GroundB_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_Lamp_01/model.sdf b/models/aws_robomaker_warehouse_Lamp_01/model.sdf
index 8b636c8..9ef1c09 100644
--- a/models/aws_robomaker_warehouse_Lamp_01/model.sdf
+++ b/models/aws_robomaker_warehouse_Lamp_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +35,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_Lamp_01/meshes/aws_robomaker_warehouse_Lamp_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf b/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf
index b6568b1..72547b0 100644
--- a/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf
+++ b/models/aws_robomaker_warehouse_PalletJackB_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +35,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_PalletJackB_01/meshes/aws_robomaker_warehouse_PalletJackB_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_RoofB_01/model.sdf b/models/aws_robomaker_warehouse_RoofB_01/model.sdf
index 11f8fb6..6fcdd82 100644
--- a/models/aws_robomaker_warehouse_RoofB_01/model.sdf
+++ b/models/aws_robomaker_warehouse_RoofB_01/model.sdf
@@ -1,23 +1,15 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
   <model name="aws_robomaker_warehouse_RoofB_01">
-    <link name="link">
+    <link name="body">
       <inertial>
         <mass>1000</mass>
         <pose frame=''>0 0 0 0 0 0</pose>
-        <inertia>
-          <ixx>834024.533</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>459441.200</iyy>
-          <iyz>0</iyz>
-          <izz>1302083.333</izz>
-        </inertia>
       </inertial>
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -45,7 +37,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_RoofB_01/meshes/aws_robomaker_warehouse_RoofB_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 3 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_ShelfD_01/model.sdf b/models/aws_robomaker_warehouse_ShelfD_01/model.sdf
index 3b4f0ed..17c326e 100644
--- a/models/aws_robomaker_warehouse_ShelfD_01/model.sdf
+++ b/models/aws_robomaker_warehouse_ShelfD_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +35,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ShelfD_01/meshes/aws_robomaker_warehouse_ShelfD_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_ShelfE_01/model.sdf b/models/aws_robomaker_warehouse_ShelfE_01/model.sdf
index 5c043ec..d615c9e 100644
--- a/models/aws_robomaker_warehouse_ShelfE_01/model.sdf
+++ b/models/aws_robomaker_warehouse_ShelfE_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +35,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_ShelfF_01/model.sdf b/models/aws_robomaker_warehouse_ShelfF_01/model.sdf
index c140f01..bcc9aef 100644
--- a/models/aws_robomaker_warehouse_ShelfF_01/model.sdf
+++ b/models/aws_robomaker_warehouse_ShelfF_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +35,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_ShelfF_01/meshes/aws_robomaker_warehouse_ShelfF_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf b/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf
index c5915e1..483c066 100644
--- a/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf
+++ b/models/aws_robomaker_warehouse_TrashCanC_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +35,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_TrashCanC_01/meshes/aws_robomaker_warehouse_TrashCanC_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 1 </layer></meta>
diff --git a/models/aws_robomaker_warehouse_WallB_01/model.sdf b/models/aws_robomaker_warehouse_WallB_01/model.sdf
index e1695f3..66af32f 100644
--- a/models/aws_robomaker_warehouse_WallB_01/model.sdf
+++ b/models/aws_robomaker_warehouse_WallB_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -35,7 +35,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE</uri>
           </mesh>
         </geometry>
       <meta> <layer> 2 </layer></meta>
diff --git a/package.xml b/package.xml
index 8ce31c0..27ffd33 100644
--- a/package.xml
+++ b/package.xml
@@ -11,12 +11,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   
-  <depend>gazebo_ros</depend>
-  <exec_depend>gazebo</exec_depend>
-  <exec_depend>gazebo_plugins</exec_depend>
+  <depend>ros_gz_sim</depend>
 
   <export>
     <build_type>ament_cmake</build_type>
-    <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" gazebo_model_path="${prefix}/models"/>
   </export>
 </package>
diff --git a/worlds/no_roof_small_warehouse/no_roof_small_warehouse.world b/worlds/no_roof_small_warehouse/no_roof_small_warehouse.world
index 91fece4..a805568 100644
--- a/worlds/no_roof_small_warehouse/no_roof_small_warehouse.world
+++ b/worlds/no_roof_small_warehouse/no_roof_small_warehouse.world
@@ -4,18 +4,39 @@
     
     <gravity>0 0 -9.8</gravity>
     <physics default="0" name="default_physics" type="ode">
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
+      <max_step_size>0.005</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
 
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
     
-        <!--model name="aws_robomaker_warehouse_RoofB_01_001">
+        <!-- <model name="aws_robomaker_warehouse_RoofB_01_001">
         <include>
             <uri>model://aws_robomaker_warehouse_RoofB_01</uri>
         </include>
         <pose frame="">0.0 0.0 0 0 0 0</pose>
-	</model-->
+	</model> -->
 
         <model name="aws_robomaker_warehouse_ShelfF_01_001">
         <include>
@@ -94,6 +115,8 @@
         <pose frame="">-0.061684 -6.6493 0 0 0 0</pose>
 	</model-->
 
+
+
         <model name="aws_robomaker_warehouse_GroundB_01_001">
         <include>
             <uri>model://aws_robomaker_warehouse_GroundB_01</uri>
diff --git a/worlds/small_warehouse/small_warehouse.world b/worlds/small_warehouse/small_warehouse.world
index cb845fd..1a1c29b 100644
--- a/worlds/small_warehouse/small_warehouse.world
+++ b/worlds/small_warehouse/small_warehouse.world
@@ -4,11 +4,33 @@
     
     <gravity>0 0 -9.8</gravity>
     <physics default="0" name="default_physics" type="ode">
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
+      <max_step_size>0.005</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
 
+    <plugin
+    filename="gz-sim-physics-system"
+    name="gz::sim::systems::Physics">
+  </plugin>
+  <plugin
+    filename="gz-sim-user-commands-system"
+    name="gz::sim::systems::UserCommands">
+  </plugin>
+  <plugin
+    filename="gz-sim-scene-broadcaster-system"
+    name="gz::sim::systems::SceneBroadcaster">
+  </plugin>
+  <plugin
+    filename="gz-sim-sensors-system"
+    name="gz::sim::systems::Sensors">
+    <render_engine>ogre2</render_engine>
+  </plugin>
+  <plugin
+    filename="gz-sim-imu-system"
+    name="gz::sim::systems::Imu">
+  </plugin>
+
     
         <model name="aws_robomaker_warehouse_RoofB_01_001">
         <include>