diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index 4f2578984..8ea6310b5 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -132,7 +132,6 @@ install(
     # ROVER 4WD
     rover_4wd_description/meshes
     rover_4wd_description/urdf
-    rover_4wd_description/worlds
     rover_4wd_description/config
   DESTINATION share/${PROJECT_NAME})
 
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/Bois_palette.jpg b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/Bois_palette.jpg
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/Bois_palette.jpg
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/Bois_palette.jpg
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/Box_paper_04_1_Base_Color.png b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/Box_paper_04_1_Base_Color.png
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/Box_paper_04_1_Base_Color.png
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/Box_paper_04_1_Base_Color.png
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/boxes.dae b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/boxes.dae
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/boxes.dae
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/boxes.dae
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/euro_pallet.dae b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/euro_pallet.dae
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/euro_pallet.dae
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/euro_pallet.dae
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/euro_pallet_w_stacked_boxes.dae b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/euro_pallet_w_stacked_boxes.dae
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/meshes/euro_pallet_w_stacked_boxes.dae
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/meshes/euro_pallet_w_stacked_boxes.dae
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/model.config b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/model.config
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/model.config
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/model.config
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/model.sdf b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/model.sdf
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/model.sdf
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/model.sdf
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/thumbnails/1.png b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/thumbnails/1.png
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/thumbnails/1.png
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/thumbnails/1.png
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/thumbnails/2.png b/CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/thumbnails/2.png
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/Euro_pallet_w_stacked_boxes/thumbnails/2.png
rename to CustomRobots/laser_mapping/models/Euro_pallet_w_stacked_boxes/thumbnails/2.png
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/model.config b/CustomRobots/laser_mapping/models/open_warehouse/model.config
similarity index 89%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/model.config
rename to CustomRobots/laser_mapping/models/open_warehouse/model.config
index cc9dd347a..f49e7e12a 100644
--- a/CustomRobots/rover_4wd_description/worlds/Warehouse/model.config
+++ b/CustomRobots/laser_mapping/models/open_warehouse/model.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <model>
-    <name>warehouse</name>
+    <name>mapping_warehouse</name>
     <version>1.0</version>
     <sdf version="1.7">model.sdf</sdf>
     <author>
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/model.sdf b/CustomRobots/laser_mapping/models/open_warehouse/model.sdf
similarity index 83%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/model.sdf
rename to CustomRobots/laser_mapping/models/open_warehouse/model.sdf
index 666bc11fe..2d3db76df 100644
--- a/CustomRobots/rover_4wd_description/worlds/Warehouse/model.sdf
+++ b/CustomRobots/laser_mapping/models/open_warehouse/model.sdf
@@ -11,7 +11,7 @@
                 <geometry>
                     <mesh>
                         <scale>1 1 1</scale>
-                        <uri>meshes/warehouse_colision.stl</uri>
+                        <uri>model://mapping_warehouse/meshes/warehouse_colision.stl</uri>
                     </mesh>
                 </geometry>
             </collision>
@@ -20,7 +20,7 @@
                 <geometry>
                     <mesh>
                         <scale>1 1 1</scale>
-                        <uri>meshes/warehouse.dae</uri>
+                        <uri>model://mapping_warehouse/meshes/warehouse.dae</uri>
                     </mesh>
                 </geometry>
             </visual>
@@ -30,7 +30,7 @@
                 <geometry>
                     <mesh>
                         <scale>1 1 1</scale>
-                        <uri>meshes/warehouse.dae</uri>
+                        <uri>model://mapping_warehouse/meshes/warehouse.dae</uri>
                         <submesh>
                             <name>drop1</name>
                             <center>true</center>
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/meshes/Box_paper_04_1_Base_Color.png b/CustomRobots/laser_mapping/models/shelf_big_2/meshes/Box_paper_04_1_Base_Color.png
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/meshes/Box_paper_04_1_Base_Color.png
rename to CustomRobots/laser_mapping/models/shelf_big_2/meshes/Box_paper_04_1_Base_Color.png
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/meshes/shelf_big_movai.dae b/CustomRobots/laser_mapping/models/shelf_big_2/meshes/shelf_big_movai.dae
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/meshes/shelf_big_movai.dae
rename to CustomRobots/laser_mapping/models/shelf_big_2/meshes/shelf_big_movai.dae
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/model.config b/CustomRobots/laser_mapping/models/shelf_big_2/model.config
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/model.config
rename to CustomRobots/laser_mapping/models/shelf_big_2/model.config
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/model.sdf b/CustomRobots/laser_mapping/models/shelf_big_2/model.sdf
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/model.sdf
rename to CustomRobots/laser_mapping/models/shelf_big_2/model.sdf
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/thumbnails/1.png b/CustomRobots/laser_mapping/models/shelf_big_2/thumbnails/1.png
similarity index 100%
rename from CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/thumbnails/1.png
rename to CustomRobots/laser_mapping/models/shelf_big_2/thumbnails/1.png
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Asphalt010_1K_Color.jpg b/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Asphalt010_1K_Color.jpg
deleted file mode 100644
index 631e4ed68..000000000
Binary files a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Asphalt010_1K_Color.jpg and /dev/null differ
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Rough_Square_Concrete_Block.jpg b/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Rough_Square_Concrete_Block.jpg
deleted file mode 100644
index 162e635ad..000000000
Binary files a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Rough_Square_Concrete_Block.jpg and /dev/null differ
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Tape001_1K_Color.png b/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Tape001_1K_Color.png
deleted file mode 100644
index 025971ddf..000000000
Binary files a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Tape001_1K_Color.png and /dev/null differ
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Terrazzo005_1K_Color.jpg b/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Terrazzo005_1K_Color.jpg
deleted file mode 100644
index 0144ca501..000000000
Binary files a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/Terrazzo005_1K_Color.jpg and /dev/null differ
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/ground.png b/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/ground.png
deleted file mode 100644
index 1b407c5e9..000000000
Binary files a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/ground.png and /dev/null differ
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/warehouse.dae b/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/warehouse.dae
deleted file mode 100644
index 5c483b519..000000000
--- a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/warehouse.dae
+++ /dev/null
@@ -1,930 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"
-  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.93.5 commit date:2021-10-05, commit time:12:04, hash:a791bdabd0b2</authoring_tool>
-    </contributor>
-    <created>2021-11-09T16:37:10</created>
-    <modified>2021-11-09T16:37:10</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_effects>
-    <effect id="asphalt-effect">
-      <profile_COMMON>
-        <newparam sid="Asphalt010_1K_Color_jpg-surface">
-          <surface type="2D">
-            <init_from>Asphalt010_1K_Color_jpg</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="Asphalt010_1K_Color_jpg-sampler">
-          <sampler2D>
-            <source>Asphalt010_1K_Color_jpg-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="Asphalt010_1K_Color_jpg-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Tape001_1K_Color_002-effect">
-      <profile_COMMON>
-        <newparam sid="Tape001_1K_Color_png_003-surface">
-          <surface type="2D">
-            <init_from>Tape001_1K_Color_png_003</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="Tape001_1K_Color_png_003-sampler">
-          <sampler2D>
-            <source>Tape001_1K_Color_png_003-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="Tape001_1K_Color_png_003-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Tape001_1K_Color_001-effect">
-      <profile_COMMON>
-        <newparam sid="Tape001_1K_Color_png_002-surface">
-          <surface type="2D">
-            <init_from>Tape001_1K_Color_png_002</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="Tape001_1K_Color_png_002-sampler">
-          <sampler2D>
-            <source>Tape001_1K_Color_png_002-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="Tape001_1K_Color_png_002-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Tape001_1K_Color-effect">
-      <profile_COMMON>
-        <newparam sid="Tape001_1K_Color-surface">
-          <surface type="2D">
-            <init_from>Tape001_1K_Color</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="Tape001_1K_Color-sampler">
-          <sampler2D>
-            <source>Tape001_1K_Color-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="Tape001_1K_Color-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="ground-effect">
-      <profile_COMMON>
-        <newparam sid="Terrazzo005_1K_Color_jpg-surface">
-          <surface type="2D">
-            <init_from>Terrazzo005_1K_Color_jpg</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="Terrazzo005_1K_Color_jpg-sampler">
-          <sampler2D>
-            <source>Terrazzo005_1K_Color_jpg-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="Terrazzo005_1K_Color_jpg-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="top-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <color sid="diffuse">0.0236505 0.02239542 0.02294495 1</color>
-            </diffuse>
-            <reflectivity>
-              <float sid="specular">0.4874396</float>
-            </reflectivity>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Material-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <color sid="diffuse">0.8000001 0.1865723 0.04435815 1</color>
-            </diffuse>
-            <reflectivity>
-              <float sid="specular">1</float>
-            </reflectivity>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="wall-effect">
-      <profile_COMMON>
-        <newparam sid="Rough_Square_Concrete_Block-surface">
-          <surface type="2D">
-            <init_from>Rough_Square_Concrete_Block</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="Rough_Square_Concrete_Block-sampler">
-          <sampler2D>
-            <source>Rough_Square_Concrete_Block-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <texture texture="Rough_Square_Concrete_Block-sampler" texcoord="UVMap"/>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_images>
-    <image id="Asphalt010_1K_Color_jpg" name="Asphalt010_1K_Color_jpg">
-      <init_from>Asphalt010_1K_Color.jpg</init_from>
-    </image>
-    <image id="Rough_Square_Concrete_Block" name="Rough_Square_Concrete_Block">
-      <init_from>Rough_Square_Concrete_Block.jpg</init_from>
-    </image>
-    <image id="Tape001_1K_Color" name="Tape001_1K_Color">
-      <init_from>Tape001_1K_Color.png</init_from>
-    </image>
-    <image id="Tape001_1K_Color_png_002" name="Tape001_1K_Color_png_002">
-      <init_from>Tape001_1K_Color.png</init_from>
-    </image>
-    <image id="Tape001_1K_Color_png_003" name="Tape001_1K_Color_png_003">
-      <init_from>Tape001_1K_Color.png</init_from>
-    </image>
-    <image id="Terrazzo005_1K_Color_jpg" name="Terrazzo005_1K_Color_jpg">
-      <init_from>Terrazzo005_1K_Color.jpg</init_from>
-    </image>
-  </library_images>
-  <library_materials>
-    <material id="asphalt-material" name="asphalt">
-      <instance_effect url="#asphalt-effect"/>
-    </material>
-    <material id="Tape001_1K_Color_002-material" name="Tape001_1K_Color.002">
-      <instance_effect url="#Tape001_1K_Color_002-effect"/>
-    </material>
-    <material id="Tape001_1K_Color_001-material" name="Tape001_1K_Color.001">
-      <instance_effect url="#Tape001_1K_Color_001-effect"/>
-    </material>
-    <material id="Tape001_1K_Color-material" name="Tape001_1K_Color">
-      <instance_effect url="#Tape001_1K_Color-effect"/>
-    </material>
-    <material id="ground-material" name="ground">
-      <instance_effect url="#ground-effect"/>
-    </material>
-    <material id="top-material" name="top">
-      <instance_effect url="#top-effect"/>
-    </material>
-    <material id="Material-material" name="Material">
-      <instance_effect url="#Material-effect"/>
-    </material>
-    <material id="wall-material" name="wall">
-      <instance_effect url="#wall-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Plane_019-mesh" name="Plane.019">
-      <mesh>
-        <source id="Plane_019-mesh-positions">
-          <float_array id="Plane_019-mesh-positions-array" count="12">-50 -50 0 50 -50 0 -50 50 0 50 50 0</float_array>
-          <technique_common>
-            <accessor source="#Plane_019-mesh-positions-array" count="4" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Plane_019-mesh-normals">
-          <float_array id="Plane_019-mesh-normals-array" count="3">0 0 1</float_array>
-          <technique_common>
-            <accessor source="#Plane_019-mesh-normals-array" count="1" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Plane_019-mesh-map-0">
-          <float_array id="Plane_019-mesh-map-0-array" count="12">17.91466 -16.91466 -16.91466 17.91466 -16.91466 -16.91466 17.91466 -16.91466 17.91466 17.91466 -16.91466 17.91466</float_array>
-          <technique_common>
-            <accessor source="#Plane_019-mesh-map-0-array" count="6" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Plane_019-mesh-vertices">
-          <input semantic="POSITION" source="#Plane_019-mesh-positions"/>
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\ No newline at end of file
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/warehouse_colision.stl b/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/warehouse_colision.stl
deleted file mode 100644
index 950446b0e..000000000
Binary files a/CustomRobots/rover_4wd_description/worlds/Warehouse/meshes/warehouse_colision.stl and /dev/null differ
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/model.config b/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/model.config
deleted file mode 100644
index 529a1d322..000000000
--- a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>shelf</name>
-    <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
-    <author>
-        <name>Filipe Almeida</name>
-        <email>filipe.almeida@mov.ai</email>
-    </author>
-    <description>A simple shelf to use in warehouse worlds</description>
-</model>
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/model.sdf b/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/model.sdf
deleted file mode 100644
index d103d6d93..000000000
--- a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf/model.sdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.7'>
-  <model name='shelf'>
-    <pose>0 0 0 0 0 0</pose>
-    <self_collide>true</self_collide>
-    <!-- BASE_LINK FRAME -->
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-      <pose>-0.5 0 0 0 0 0</pose>
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-        <pose>0 0 0 0 0 0</pose>
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-          <mesh>
-            <scale>0.2 0.3 0.3</scale>
-            <uri>meshes/shelf_big_movai.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <static>1</static>
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-</sdf>
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/meshes/Box_paper_04_1_Base_Color.png b/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/meshes/Box_paper_04_1_Base_Color.png
deleted file mode 100644
index d8323e24a..000000000
Binary files a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/meshes/Box_paper_04_1_Base_Color.png and /dev/null differ
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/meshes/shelf_big_movai.dae b/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/meshes/shelf_big_movai.dae
deleted file mode 100644
index c15878e99..000000000
--- a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/meshes/shelf_big_movai.dae
+++ /dev/null
@@ -1,347 +0,0 @@
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-      <author>Blender User</author>
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-    <created>2021-06-24T14:57:47</created>
-    <modified>2021-06-24T14:57:47</modified>
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-    <up_axis>Z_UP</up_axis>
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\ No newline at end of file
diff --git a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/thumbnails/1.png b/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/thumbnails/1.png
deleted file mode 100644
index d6ff182bb..000000000
Binary files a/CustomRobots/rover_4wd_description/worlds/Warehouse/shelf_big/thumbnails/1.png and /dev/null differ
diff --git a/CustomRobots/rover_4wd_description/worlds/my_warehouse.sdf b/CustomRobots/rover_4wd_description/worlds/my_warehouse.sdf
deleted file mode 100644
index 3aecddcd2..000000000
--- a/CustomRobots/rover_4wd_description/worlds/my_warehouse.sdf
+++ /dev/null
@@ -1,99 +0,0 @@
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-    <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
-    <!--<physics type="ode" name="fast">
-      <max_step_size>0.004</max_step_size>          
-      <real_time_update_rate>250</real_time_update_rate>
-    </physics>-->
-    <physics type="ode" name="fast">
-      <max_step_size>0.002</max_step_size>          
-      <real_time_update_rate>500</real_time_update_rate>
-    </physics>
-    <!-- Luz -->
-    <light name="sun2" type="directional">
-      <cast_shadows>true</cast_shadows>
-      <pose>0 0 10 0 0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-
-    <!-- Suelo -->
-    <model name="ground_plane">
-      <static>true</static>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-
-
-
-
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.8 0.8 0.8 1</ambient>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.8 0.8 0.8 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <!-- Base del almacén -->
-    <include>
-      <name>warehouse</name>
-      <pose>0 0 -0.09 0 0 0</pose>
-      <uri>model://worlds/Warehouse</uri>
-    </include>
-
-    <!-- Estanterías pequeñas -->
-    <include><name>shelf_0</name><pose>-4.41528 2.30697 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_1</name><pose>-4.41528 5.30708 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_2</name><pose>-4.41528 8.34352 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_3</name><pose>5.60144 8.34352 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_4</name><pose>5.60144 5.30708 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_6</name><pose>5.60144 2.30697 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_7</name><pose>13.3818 -21.2416 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_8</name><pose>13.3818 -19.0028 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_9</name><pose>13.3818 -16.4478 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-    <include><name>shelf_10</name><pose>13.3818 -14.1028 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf</uri></include>
-
-    <!-- Estanterías grandes -->
-    <include><name>shelf_big_0</name><pose>-13.0718 -8.2974 0 0 0 1.5708</pose><uri>model://worlds/Warehouse/shelf_big</uri></include>
-    <include><name>shelf_big_1</name><pose>13.0 15.8265 0 0 0 1.5708</pose><uri>model://worlds/Warehouse/shelf_big</uri></include>
-    <include><name>shelf_big_3</name><pose>3.7349 -8.6599 0 0 0 1.5708</pose><uri>model://worlds/Warehouse/shelf_big</uri></include>
-    <include><name>shelf_big_4</name><pose>-3.4279 -8.2115 0 0 0 1.5708</pose><uri>model://worlds/Warehouse/shelf_big</uri></include>
-    <include><name>shelf_big_5</name><pose>0.0306 -23.2429 0 0 0 0</pose><uri>model://worlds/Warehouse/shelf_big</uri></include>
-
-    <!-- Pallets -->
-    <include><name>pallet_0</name><pose>-4.9821 20.319 0 0 0 1.5708</pose><uri>model://worlds/Warehouse/Euro_pallet_w_stacked_boxes</uri></include>
-    <include><name>pallet_1</name><pose>-4.9821 17.319 0 0 0 1.0</pose><uri>model://worlds/Warehouse/Euro_pallet_w_stacked_boxes</uri></include>
-    <include><name>pallet_2</name><pose>4.9821 19.319 0 0 0 0.4</pose><uri>model://worlds/Warehouse/Euro_pallet_w_stacked_boxes</uri></include>
-    <include><name>pallet_3</name><pose>2.9821 21.319 0 0 0 2.5708</pose><uri>model://worlds/Warehouse/Euro_pallet_w_stacked_boxes</uri></include>
-  </world>
-</sdf>
diff --git a/Launchers/rover_spawn.launch.py b/Launchers/rover_4wd_warehouse.launch.py
similarity index 73%
rename from Launchers/rover_spawn.launch.py
rename to Launchers/rover_4wd_warehouse.launch.py
index c5ca30b90..a349b9b19 100644
--- a/Launchers/rover_spawn.launch.py
+++ b/Launchers/rover_4wd_warehouse.launch.py
@@ -2,7 +2,11 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, AppendEnvironmentVariable
+from launch.actions import (
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, Command
 from launch_ros.actions import Node
@@ -15,22 +19,15 @@ def generate_launch_description():
 
     package_dir = custom_share
 
-    urdf_file = os.path.join(
-        custom_share,  "urdf", "rover_4wd.urdf"
-    )
+    urdf_file = os.path.join(custom_share, "urdf", "rover_4wd.urdf")
 
-    world_path = os.path.join(
-        custom_share, "worlds", "my_warehouse.sdf"
-    )
-
-    bridge_yaml = os.path.join(
-        custom_share,  "config", "ros_gz_bridge.yaml"
-    )
+    bridge_yaml = os.path.join(custom_share, "config", "ros_gz_bridge.yaml")
 
     gazebo_models_path = os.path.join(package_dir, "models")
 
-
-
+    world_file_name = "rover4wd_warehouse.world"
+    worlds_dir = "/opt/jderobot/Worlds"
+    world_path = os.path.join(worlds_dir, world_file_name)
 
     use_sim_time = LaunchConfiguration("use_sim_time", default="true")
 
@@ -44,10 +41,9 @@ def generate_launch_description():
         executable="robot_state_publisher",
         name="robot_state_publisher",
         output="screen",
-        parameters=[{
-            "use_sim_time": use_sim_time,
-            "robot_description": robot_description
-        }],
+        parameters=[
+            {"use_sim_time": use_sim_time, "robot_description": robot_description}
+        ],
     )
 
     gz_sim_launch = IncludeLaunchDescription(
@@ -71,10 +67,14 @@ def generate_launch_description():
         package="ros_gz_sim",
         executable="create",
         arguments=[
-            "-topic", "/robot_description",
-            "-name", "rover_4wd",
-            "-allow_renaming", "true",
-            "-z", "0.15",
+            "-topic",
+            "/robot_description",
+            "-name",
+            "rover_4wd",
+            "-allow_renaming",
+            "true",
+            "-z",
+            "0.15",
         ],
         output="screen",
     )
@@ -86,13 +86,9 @@ def generate_launch_description():
         output="screen",
     )
 
-    
     ld = LaunchDescription()
 
-    ld.add_action(SetEnvironmentVariable(
-        "GZ_SIM_RESOURCE_PATH",
-        gazebo_models_path
-    ))
+    ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
 
     set_env_vars_resources = AppendEnvironmentVariable(
         "GZ_SIM_RESOURCE_PATH",
@@ -107,4 +103,3 @@ def generate_launch_description():
     ld.add_action(gz_ros2_bridge)
 
     return ld
-
diff --git a/Worlds/rover4wd_warehouse.world b/Worlds/rover4wd_warehouse.world
new file mode 100644
index 000000000..b8a6492fa
--- /dev/null
+++ b/Worlds/rover4wd_warehouse.world
@@ -0,0 +1,175 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <world name="default">
+    <!-- Plugins -->
+    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
+    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
+    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
+    <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
+    <!--<physics type="ode" name="fast">
+      <max_step_size>0.004</max_step_size>          
+      <real_time_update_rate>250</real_time_update_rate>
+    </physics>-->
+    <physics type="ode" name="fast">
+      <max_step_size>0.002</max_step_size>
+      <real_time_update_rate>500</real_time_update_rate>
+    </physics>
+    <!-- Luz -->
+    <light name="sun2" type="directional">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <!-- Suelo -->
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+
+
+
+
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <!-- Base del almacén -->
+    <include>
+      <name>warehouse</name>
+      <pose>0 0 -0.09 0 0 0</pose>
+      <uri>model://open_warehouse</uri>
+    </include>
+
+    <!-- Estanterías pequeñas -->
+    <include>
+      <name>shelf_0</name>
+      <pose>-4.41528 2.30697 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_1</name>
+      <pose>-4.41528 5.30708 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_2</name>
+      <pose>-4.41528 8.34352 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_3</name>
+      <pose>5.60144 8.34352 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_4</name>
+      <pose>5.60144 5.30708 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_6</name>
+      <pose>5.60144 2.30697 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_7</name>
+      <pose>13.3818 -21.2416 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_8</name>
+      <pose>13.3818 -19.0028 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_9</name>
+      <pose>13.3818 -16.4478 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+    <include>
+      <name>shelf_10</name>
+      <pose>13.3818 -14.1028 0 0 0 0</pose>
+      <uri>model://shelf</uri>
+    </include>
+
+    <!-- Estanterías grandes -->
+    <include>
+      <name>shelf_big_0</name>
+      <pose>-13.0718 -8.2974 0 0 0 1.5708</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+    <include>
+      <name>shelf_big_1</name>
+      <pose>13.0 15.8265 0 0 0 1.5708</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+    <include>
+      <name>shelf_big_3</name>
+      <pose>3.7349 -8.6599 0 0 0 1.5708</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+    <include>
+      <name>shelf_big_4</name>
+      <pose>-3.4279 -8.2115 0 0 0 1.5708</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+    <include>
+      <name>shelf_big_5</name>
+      <pose>0.0306 -23.2429 0 0 0 0</pose>
+      <uri>model://shelf_big_2</uri>
+    </include>
+
+    <!-- Pallets -->
+    <include>
+      <name>pallet_0</name>
+      <pose>-4.9821 20.319 0 0 0 1.5708</pose>
+      <uri>model://Euro_pallet_w_stacked_boxes</uri>
+    </include>
+    <include>
+      <name>pallet_1</name>
+      <pose>-4.9821 17.319 0 0 0 1.0</pose>
+      <uri>model://Euro_pallet_w_stacked_boxes</uri>
+    </include>
+    <include>
+      <name>pallet_2</name>
+      <pose>4.9821 19.319 0 0 0 0.4</pose>
+      <uri>model://Euro_pallet_w_stacked_boxes</uri>
+    </include>
+    <include>
+      <name>pallet_3</name>
+      <pose>2.9821 21.319 0 0 0 2.5708</pose>
+      <uri>model://Euro_pallet_w_stacked_boxes</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/database/universes.sql b/database/universes.sql
index a47e2eb9c..ac70ec547 100644
--- a/database/universes.sql
+++ b/database/universes.sql
@@ -179,6 +179,7 @@ COPY public.universes (id, name, world_id, robot_id) FROM stdin;
 52 	Montreal Circuit Classic	52	0
 53 	Nurburgring Circuit Classic	53	0
 54 	Vacuums House Roof Classic	54	0
+55 	Rover 4wd Warehouse	55	0
 \.
 
 
@@ -243,6 +244,7 @@ COPY public.worlds (id, name, launch_file_path, tools_config, ros_version, type,
 52	Montreal Circuit Classic	/opt/jderobot/Launchers/montreal_circuit_classic.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 53	Nurburgring Circuit Classic	/opt/jderobot/Launchers/nurburgring_circuit_classic.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
 54	Vacuums House Roof Classic	/opt/jderobot/Launchers/montecarlo_visual_loc_classic.launch.py	None	ROS2	gazebo	{0.0,0.0,0.0,0.0,0.0,0.0}
+55	Rover 4wd Warehouse	/opt/jderobot/Launchers/rover_4wd_warehouse.launch.py	None	ROS2	gz	{0.0,0.0,0.0,0.0,0.0,0.0}
 \.
 
 --