From b80934c2e729f0a08293a84eab04b67d5697ced1 Mon Sep 17 00:00:00 2001
From: stevedan <stevedan.o.omodolor@gmail.com>
Date: Wed, 19 Jun 2024 21:51:12 +0200
Subject: [PATCH] removed unused path

Signed-off-by: stevedan <stevedan.o.omodolor@gmail.com>
---
 nav2_system_tests/urdf/common_properties.urdf |  45 --
 nav2_system_tests/urdf/turtlebot3_burger.urdf | 155 -----
 nav2_system_tests/urdf/turtlebot3_waffle.urdf | 279 ---------
 .../worlds/turtlebot3_ros2_demo.world         | 497 ----------------
 .../worlds/turtlebot3_ros2_demo_gps.world     | 555 -----------------
 .../turtlebot3_ros2_demo_obstacle.world       | 558 ------------------
 nav2_system_tests/worlds/world_only.model     |  54 --
 7 files changed, 2143 deletions(-)
 delete mode 100644 nav2_system_tests/urdf/common_properties.urdf
 delete mode 100644 nav2_system_tests/urdf/turtlebot3_burger.urdf
 delete mode 100644 nav2_system_tests/urdf/turtlebot3_waffle.urdf
 delete mode 100644 nav2_system_tests/worlds/turtlebot3_ros2_demo.world
 delete mode 100644 nav2_system_tests/worlds/turtlebot3_ros2_demo_gps.world
 delete mode 100644 nav2_system_tests/worlds/turtlebot3_ros2_demo_obstacle.world
 delete mode 100644 nav2_system_tests/worlds/world_only.model

diff --git a/nav2_system_tests/urdf/common_properties.urdf b/nav2_system_tests/urdf/common_properties.urdf
deleted file mode 100644
index 9d457ea1d6..0000000000
--- a/nav2_system_tests/urdf/common_properties.urdf
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0" ?>
-
-<robot name="xacro_properties" 
-  xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <!-- Init colour -->
-  <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="dark">
-    <color rgba="0.3 0.3 0.3 1.0"/>
-  </material>
-  <material name="light_black">
-    <color rgba="0.4 0.4 0.4 1.0"/>
-  </material>
-
-  <material name="blue">
-    <color rgba="0.0 0.0 0.8 1.0"/>
-  </material>
-
-  <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
-  </material>
-
-  <material name="grey">
-    <color rgba="0.5 0.5 0.5 1.0"/>
-  </material>
-
-  <material name="orange">
-    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
-  </material>
-
-  <material name="brown">
-    <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
-  </material>
-
-  <material name="red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
-</robot>
diff --git a/nav2_system_tests/urdf/turtlebot3_burger.urdf b/nav2_system_tests/urdf/turtlebot3_burger.urdf
deleted file mode 100644
index 90f34dbbb8..0000000000
--- a/nav2_system_tests/urdf/turtlebot3_burger.urdf
+++ /dev/null
@@ -1,155 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_burger" 
-  xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
-
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.140 0.140 0.143"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="8.2573504e-01"/>
-      <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05" iyy="2.1193702e-03" iyz="-5.0120904e-06" izz="2.0064271e-03" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
-    </inertial>
-  </link>
-
-  <joint name="caster_back_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_link"/>
-    <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
-    </inertial>
-  </link>
-
-</robot>
diff --git a/nav2_system_tests/urdf/turtlebot3_waffle.urdf b/nav2_system_tests/urdf/turtlebot3_waffle.urdf
deleted file mode 100644
index 9a5bca1141..0000000000
--- a/nav2_system_tests/urdf/turtlebot3_waffle.urdf
+++ /dev/null
@@ -1,279 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
-
-  <xacro:property name="r200_cam_rgb_px" value="0.005"/>
-  <xacro:property name="r200_cam_rgb_py" value="0.018"/>
-  <xacro:property name="r200_cam_rgb_pz" value="0.013"/>
-  <xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
-
-  <!-- Init colour -->
-  <material name="black">
-      <color rgba="0.0 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="dark">
-    <color rgba="0.3 0.3 0.3 1.0"/>
-  </material>
-
-  <material name="light_black">
-    <color rgba="0.4 0.4 0.4 1.0"/>
-  </material>
-
-  <material name="blue">
-    <color rgba="0.0 0.0 0.8 1.0"/>
-  </material>
-
-  <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
-  </material>
-
-  <material name="grey">
-    <color rgba="0.5 0.5 0.5 1.0"/>
-  </material>
-
-  <material name="orange">
-    <color rgba="1.0 0.4235 0.0392 1.0"/>
-  </material>
-
-  <material name="brown">
-    <color rgba="0.8706 0.8118 0.7647 1.0"/>
-  </material>
-
-  <material name="red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
-
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link" />
-    <origin xyz="0 0 0.010" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.266 0.266 0.094"/>
-      </geometry>
-      <material name="blue"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.266 0.266 0.094"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="1.3729096e+00"/>
-      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
-               iyy="8.6195418e-03" iyz="-3.5422299e-06"
-               izz="1.4612727e-02" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="caster_back_right_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_right_link"/>
-    <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_right_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="caster_back_left_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_left_link"/>
-    <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_left_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="camera_joint" type="fixed">
-    <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-  </joint>
-
-  <link name="camera_link">
-    <collision>
-      <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.012 0.132 0.020"/>
-      </geometry>
-    </collision>
-
-    <!-- This inertial field needs doesn't contain reliable data!! -->
-<!--   <inertial>
-      <mass value="0.564" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
-               iyy="0.000498940" iyz="0.0"
-               izz="0.003879257" />
-    </inertial>-->
-  </link>
-
-  <joint name="camera_rgb_joint" type="fixed">
-    <origin xyz="0.005 0.018 0.013" rpy="-1.57 0 -1.57"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_rgb_frame"/>
-  </joint>
-  <link name="camera_rgb_frame"/>
-
-  <joint name="camera_rgb_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
-    <parent link="camera_rgb_frame"/>
-    <child link="camera_rgb_optical_frame"/>
-  </joint>
-  <link name="camera_rgb_optical_frame"/>
-
-  <joint name="camera_depth_joint" type="fixed">
-    <origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_depth_frame"/>
-  </joint>
-  <link name="camera_depth_frame"/>
-
-  <joint name="camera_depth_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
-    <parent link="camera_depth_frame"/>
-    <child link="camera_depth_optical_frame"/>
-  </joint>
-  <link name="camera_depth_optical_frame"/>
-
-</robot>
diff --git a/nav2_system_tests/worlds/turtlebot3_ros2_demo.world b/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
deleted file mode 100644
index 9a9e1bdbe8..0000000000
--- a/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
+++ /dev/null
@@ -1,497 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
-
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <physics type="ode">
-      <real_time_update_rate>1000.0</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>150</iters>
-          <precon_iters>0</precon_iters>
-          <sor>1.400000</sor>
-          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
-        </solver>
-        <constraints>
-          <cfm>0.00001</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
-          <contact_surface_layer>0.01000</contact_surface_layer>
-        </constraints>
-      </ode>
-    </physics>
-
-    <model name="turtlebot3_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_world</uri>
-      </include>
-    </model>
-
-    <model name="turtlebot3">
-      <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
-
-      <link name="base_footprint"/>
-
-      <link name="base_link">
-
-        <inertial>
-          <pose>-0.064 0 0.048 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>1.0</mass>
-        </inertial>
-
-        <collision name="base_collision">
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.265 0.265 0.089</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <visual name="base_visual">
-          <pose>-0.064 0 0 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name="imu_link">
-        <sensor name="tb3_imu" type="imu">
-          <always_on>true</always_on>
-          <update_rate>200</update_rate>
-          <imu>
-            <angular_velocity>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </z>
-            </angular_velocity>
-            <linear_acceleration>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </z>
-            </linear_acceleration>
-          </imu>
-          <plugin name="my_imu_plugin" filename="libgazebo_ros_imu_sensor.so">
-            <initial_orientation_as_reference>false</initial_orientation_as_reference>
-            <ros>
-              <!-- <namespace>/tb3</namespace> -->
-              <remapping>~/out:=imu</remapping>
-            </ros>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="base_scan">
-        <inertial>
-          <pose>-0.052 0 0.111 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>0.125</mass>
-        </inertial>
-
-        <collision name="lidar_sensor_collision">
-            <pose>-0.064 0 0.121 0 0 0</pose>
-            <geometry>
-              <cylinder>
-                <radius>0.0508</radius>
-                <length>0.055</length>
-              </cylinder>
-            </geometry>
-          </collision>
-
-          <visual name="lidar_sensor_visual">
-            <pose>-0.032 0 0.171 0 0 0</pose>
-            <geometry>
-              <mesh>
-                <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
-                <scale>0.001 0.001 0.001</scale>
-              </mesh>
-            </geometry>
-          </visual>
-
-          <sensor name="hls_lfcd_lds" type="ray">
-            <always_on>true</always_on>
-            <visualize>false</visualize>
-            <pose>-0.064 0 0.121 0 0 0</pose>
-            <update_rate>5</update_rate>
-            <ray>
-              <scan>
-                <horizontal>
-                  <samples>360</samples>
-                  <resolution>1.000000</resolution>
-                  <min_angle>0.000000</min_angle>
-                  <max_angle>6.280000</max_angle>
-                </horizontal>
-              </scan>
-              <range>
-                <min>0.120000</min>
-                <max>3.5</max>
-                <resolution>0.015000</resolution>
-              </range>
-              <noise>
-                <type>gaussian</type>
-                <mean>0.0</mean>
-                <stddev>0.01</stddev>
-              </noise>
-            </ray>
-            <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
-              <ros>
-                <!-- <namespace>/tb3</namespace> -->
-                <remapping>~/out:=scan</remapping>
-              </ros>
-              <output_type>sensor_msgs/LaserScan</output_type>
-            </plugin>
-          </sensor>
-        </link>
-
-        <link name="wheel_left_link">
-
-          <inertial>
-            <pose>0.0 0.144 0.023 -1.57 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>0.1</mass>
-          </inertial>
-
-          <collision name="wheel_left_collision">
-            <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-            <geometry>
-              <cylinder>
-                <radius>0.033</radius>
-                <length>0.018</length>
-              </cylinder>
-            </geometry>
-            <surface>
-              <!-- This friction pamareter don't contain reliable data!! -->
-              <friction>
-                <ode>
-                  <mu>100000.0</mu>
-                  <mu2>100000.0</mu2>
-                  <fdir1>0 0 0</fdir1>
-                  <slip1>0.0</slip1>
-                  <slip2>0.0</slip2>
-                </ode>
-              </friction>
-              <contact>
-                <ode>
-                  <soft_cfm>0</soft_cfm>
-                  <soft_erp>0.2</soft_erp>
-                  <kp>1e+5</kp>
-                  <kd>1</kd>
-                  <max_vel>0.01</max_vel>
-                  <min_depth>0.001</min_depth>
-                </ode>
-              </contact>
-            </surface>
-          </collision>
-
-          <visual name="wheel_left_visual">
-            <pose>0.0 0.144 0.023 0 0 0</pose>
-            <geometry>
-              <mesh>
-                <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
-                <scale>0.001 0.001 0.001</scale>
-              </mesh>
-            </geometry>
-          </visual>
-        </link>
-
-        <link name="wheel_right_link">
-
-          <inertial>
-            <pose>0.0 -0.144 0.023 -1.57 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>0.1</mass>
-          </inertial>
-
-          <collision name="wheel_right_collision">
-            <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-            <geometry>
-              <cylinder>
-                <radius>0.033</radius>
-                <length>0.018</length>
-              </cylinder>
-            </geometry>
-            <surface>
-              <!-- This friction pamareter don't contain reliable data!! -->
-              <friction>
-                <ode>
-                  <mu>100000.0</mu>
-                  <mu2>100000.0</mu2>
-                  <fdir1>0 0 0</fdir1>
-                  <slip1>0.0</slip1>
-                  <slip2>0.0</slip2>
-                </ode>
-              </friction>
-              <contact>
-                <ode>
-                  <soft_cfm>0</soft_cfm>
-                  <soft_erp>0.2</soft_erp>
-                  <kp>1e+5</kp>
-                  <kd>1</kd>
-                  <max_vel>0.01</max_vel>
-                  <min_depth>0.001</min_depth>
-                </ode>
-              </contact>
-            </surface>
-          </collision>
-
-          <visual name="wheel_right_visual">
-            <pose>0.0 -0.144 0.023 0 0 0</pose>
-            <geometry>
-              <mesh>
-                <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
-                <scale>0.001 0.001 0.001</scale>
-              </mesh>
-            </geometry>
-          </visual>
-        </link>
-
-        <link name='caster_back_right_link'>
-          <pose>-0.177 -0.064 -0.004 0 0 0</pose>
-          <inertial>
-            <mass>0.001</mass>
-            <inertia>
-              <ixx>0.00001</ixx>
-              <ixy>0.000</ixy>
-              <ixz>0.000</ixz>
-              <iyy>0.00001</iyy>
-              <iyz>0.000</iyz>
-              <izz>0.00001</izz>
-            </inertia>
-          </inertial>
-          <collision name='collision'>
-            <geometry>
-              <sphere>
-                <radius>0.005000</radius>
-              </sphere>
-            </geometry>
-            <surface>
-              <contact>
-                <ode>
-                  <soft_cfm>0</soft_cfm>
-                  <soft_erp>0.2</soft_erp>
-                  <kp>1e+5</kp>
-                  <kd>1</kd>
-                  <max_vel>0.01</max_vel>
-                  <min_depth>0.001</min_depth>
-                </ode>
-              </contact>
-            </surface>
-          </collision>
-        </link>
-
-        <link name='caster_back_left_link'>
-          <pose>-0.177 0.064 -0.004 0 0 0</pose>
-          <inertial>
-            <mass>0.001</mass>
-            <inertia>
-              <ixx>0.00001</ixx>
-              <ixy>0.000</ixy>
-              <ixz>0.000</ixz>
-              <iyy>0.00001</iyy>
-              <iyz>0.000</iyz>
-              <izz>0.00001</izz>
-            </inertia>
-          </inertial>
-          <collision name='collision'>
-            <geometry>
-              <sphere>
-                <radius>0.005000</radius>
-              </sphere>
-            </geometry>
-            <surface>
-              <contact>
-                <ode>
-                  <soft_cfm>0</soft_cfm>
-                  <soft_erp>0.2</soft_erp>
-                  <kp>1e+5</kp>
-                  <kd>1</kd>
-                  <max_vel>0.01</max_vel>
-                  <min_depth>0.001</min_depth>
-                </ode>
-              </contact>
-            </surface>
-          </collision>
-        </link>
-
-        <joint name="base_joint" type="fixed">
-          <parent>base_footprint</parent>
-          <child>base_link</child>
-          <pose>0.0 0.0 0.010 0 0 0</pose>
-        </joint>
-
-        <joint name="wheel_left_joint" type="revolute">
-          <parent>base_link</parent>
-          <child>wheel_left_link</child>
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <axis>
-            <xyz>0 0 1</xyz>
-          </axis>
-        </joint>
-
-        <joint name="wheel_right_joint" type="revolute">
-          <parent>base_link</parent>
-          <child>wheel_right_link</child>
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <axis>
-            <xyz>0 0 1</xyz>
-          </axis>
-        </joint>
-
-        <joint name='caster_back_right_joint' type='ball'>
-          <parent>base_link</parent>
-          <child>caster_back_right_link</child>
-        </joint>
-
-        <joint name='caster_back_left_joint' type='ball'>
-          <parent>base_link</parent>
-          <child>caster_back_left_link</child>
-        </joint>
-
-        <joint name="imu_joint" type="fixed">
-          <parent>base_link</parent>
-          <child>imu_link</child>
-          <pose>-0.032 0 0.068 0 0 0</pose>
-          <axis>
-            <xyz>0 0 1</xyz>
-          </axis>
-        </joint>
-
-        <joint name="lidar_joint" type="fixed">
-          <parent>base_link</parent>
-          <child>base_scan</child>
-          <pose>-0.064 0 0.121 0 0 0</pose>
-          <axis>
-            <xyz>0 0 1</xyz>
-          </axis>
-        </joint>
-
-        <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
-
-          <ros>
-            <!-- <namespace>/tb3</namespace> -->
-            <remapping>/tf:=tf</remapping>
-          </ros>
-
-          <!-- wheels -->
-          <left_joint>wheel_left_joint</left_joint>
-          <right_joint>wheel_right_joint</right_joint>
-
-          <!-- kinematics -->
-          <wheel_separation>0.287</wheel_separation>
-          <wheel_diameter>0.066</wheel_diameter>
-
-          <!-- limits -->
-          <max_wheel_torque>20</max_wheel_torque>
-          <max_wheel_acceleration>1.0</max_wheel_acceleration>
-
-          <!-- output -->
-          <publish_odom>true</publish_odom>
-          <publish_odom_tf>true</publish_odom_tf>
-          <publish_wheel_tf>false</publish_wheel_tf>
-
-          <odometry_frame>odom</odometry_frame>
-          <robot_base_frame>base_footprint</robot_base_frame>
-
-        </plugin>
-
-        <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
-          <ros>
-            <!-- <namespace>/tb3</namespace> -->
-            <remapping>~/out:=joint_states</remapping>
-          </ros>
-          <update_rate>250</update_rate>
-          <joint_name>wheel_left_joint</joint_name>
-          <joint_name>wheel_right_joint</joint_name>
-        </plugin>
-        
-      </model>
-
-  </world>
-</sdf>
-
diff --git a/nav2_system_tests/worlds/turtlebot3_ros2_demo_gps.world b/nav2_system_tests/worlds/turtlebot3_ros2_demo_gps.world
deleted file mode 100644
index 94b72499a2..0000000000
--- a/nav2_system_tests/worlds/turtlebot3_ros2_demo_gps.world
+++ /dev/null
@@ -1,555 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
-
-    <spherical_coordinates>
-      <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
-      (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,
-      therefore we rotate the default frame 180 so that it would go back to ENU 
-      see: https://github.com/osrf/gazebo/issues/2022 --> 
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>55.944831</latitude_deg>
-      <longitude_deg>-3.186998</longitude_deg>
-      <elevation>0.0</elevation>
-      <heading_deg>180.0</heading_deg>
-    </spherical_coordinates>
-
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <physics type="ode">
-      <real_time_update_rate>1000.0</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>150</iters>
-          <precon_iters>0</precon_iters>
-          <sor>1.400000</sor>
-          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
-        </solver>
-        <constraints>
-          <cfm>0.00001</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
-          <contact_surface_layer>0.01000</contact_surface_layer>
-        </constraints>
-      </ode>
-    </physics>
-
-    <model name="turtlebot3">
-      <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
-
-      <link name="base_footprint"/>
-
-      <link name="base_link">
-
-        <inertial>
-          <pose>-0.064 0 0.048 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>1.0</mass>
-        </inertial>
-
-        <collision name="base_collision">
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.265 0.265 0.089</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <visual name="base_visual">
-          <pose>-0.064 0 0 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name="imu_link">
-        <sensor name="tb3_imu" type="imu">
-          <always_on>true</always_on>
-          <update_rate>200</update_rate>
-          <imu>
-            <angular_velocity>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </z>
-            </angular_velocity>
-            <linear_acceleration>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </z>
-            </linear_acceleration>
-          </imu>
-          <plugin name="my_imu_plugin" filename="libgazebo_ros_imu_sensor.so">
-            <initial_orientation_as_reference>false</initial_orientation_as_reference>
-            <ros>
-              <!-- <namespace>/tb3</namespace> -->
-              <remapping>~/out:=/imu/data</remapping>
-            </ros>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="gps_link">
-      <!-- Some weird bug occurs if this joint gets the default inertia -->
-        <inertial>
-          <pose>-0.052 0 0.111 0 0 0</pose>
-          <inertia>
-            <mass>0.001</mass>
-            <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>0.125</mass>
-        </inertial>
-        <sensor name="tb3_gps" type="gps">
-          <always_on>true</always_on>
-          <update_rate>1</update_rate>
-          <pose>0 0 0 0 0 0</pose>
-          <gps>
-            <position_sensing>
-              <horizontal>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>0.1</stddev>
-                </noise>
-              </horizontal>
-              <vertical>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>0.0</stddev>
-                </noise>
-              </vertical>
-            </position_sensing>
-          </gps>
-          <plugin name="my_gps_plugin" filename="libgazebo_ros_gps_sensor.so">
-            <ros>
-              <remapping>~/out:=/gps/fix</remapping>
-            </ros>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="base_scan">
-        <inertial>
-          <pose>-0.052 0 0.111 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>0.125</mass>
-        </inertial>
-
-        <collision name="lidar_sensor_collision">
-            <pose>-0.064 0 0.121 0 0 0</pose>
-            <geometry>
-              <cylinder>
-                <radius>0.0508</radius>
-                <length>0.055</length>
-              </cylinder>
-            </geometry>
-          </collision>
-
-          <visual name="lidar_sensor_visual">
-            <pose>-0.032 0 0.171 0 0 0</pose>
-            <geometry>
-              <mesh>
-                <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
-                <scale>0.001 0.001 0.001</scale>
-              </mesh>
-            </geometry>
-          </visual>
-
-          <sensor name="hls_lfcd_lds" type="ray">
-            <always_on>true</always_on>
-            <visualize>false</visualize>
-            <pose>-0.064 0 0.121 0 0 0</pose>
-            <update_rate>5</update_rate>
-            <ray>
-              <scan>
-                <horizontal>
-                  <samples>360</samples>
-                  <resolution>1.000000</resolution>
-                  <min_angle>0.000000</min_angle>
-                  <max_angle>6.280000</max_angle>
-                </horizontal>
-              </scan>
-              <range>
-                <min>0.120000</min>
-                <max>3.5</max>
-                <resolution>0.015000</resolution>
-              </range>
-              <noise>
-                <type>gaussian</type>
-                <mean>0.0</mean>
-                <stddev>0.01</stddev>
-              </noise>
-            </ray>
-            <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
-              <ros>
-                <!-- <namespace>/tb3</namespace> -->
-                <remapping>~/out:=scan</remapping>
-              </ros>
-              <output_type>sensor_msgs/LaserScan</output_type>
-            </plugin>
-          </sensor>
-      </link>
-
-      <link name="wheel_left_link">
-
-        <inertial>
-          <pose>0.0 0.144 0.023 -1.57 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>0.1</mass>
-        </inertial>
-
-        <collision name="wheel_left_collision">
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.033</radius>
-              <length>0.018</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <!-- This friction pamareter don't contain reliable data!! -->
-            <friction>
-              <ode>
-                <mu>100000.0</mu>
-                <mu2>100000.0</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0.0</slip1>
-                <slip2>0.0</slip2>
-              </ode>
-            </friction>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-
-        <visual name="wheel_left_visual">
-          <pose>0.0 0.144 0.023 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name="wheel_right_link">
-
-        <inertial>
-          <pose>0.0 -0.144 0.023 -1.57 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>0.1</mass>
-        </inertial>
-
-        <collision name="wheel_right_collision">
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.033</radius>
-              <length>0.018</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <!-- This friction pamareter don't contain reliable data!! -->
-            <friction>
-              <ode>
-                <mu>100000.0</mu>
-                <mu2>100000.0</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0.0</slip1>
-                <slip2>0.0</slip2>
-              </ode>
-            </friction>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-
-        <visual name="wheel_right_visual">
-          <pose>0.0 -0.144 0.023 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name='caster_back_right_link'>
-        <pose>-0.177 -0.064 -0.004 0 0 0</pose>
-        <inertial>
-          <mass>0.001</mass>
-          <inertia>
-            <ixx>0.00001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.00001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.00001</izz>
-          </inertia>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.005000</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-
-      <link name='caster_back_left_link'>
-        <pose>-0.177 0.064 -0.004 0 0 0</pose>
-        <inertial>
-          <mass>0.001</mass>
-          <inertia>
-            <ixx>0.00001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.00001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.00001</izz>
-          </inertia>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.005000</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-
-      <joint name="base_joint" type="fixed">
-        <parent>base_footprint</parent>
-        <child>base_link</child>
-        <pose>0.0 0.0 0.010 0 0 0</pose>
-      </joint>
-
-      <joint name="wheel_left_joint" type="revolute">
-        <parent>base_link</parent>
-        <child>wheel_left_link</child>
-        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="wheel_right_joint" type="revolute">
-        <parent>base_link</parent>
-        <child>wheel_right_link</child>
-        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name='caster_back_right_joint' type='ball'>
-        <parent>base_link</parent>
-        <child>caster_back_right_link</child>
-      </joint>
-
-      <joint name='caster_back_left_joint' type='ball'>
-        <parent>base_link</parent>
-        <child>caster_back_left_link</child>
-      </joint>
-
-      <joint name="imu_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>imu_link</child>
-        <pose>-0.032 0 0.068 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="gps_sensor_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>gps_link</child>
-        <pose>-0.05 0 0.05 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="lidar_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>base_scan</child>
-        <pose>-0.064 0 0.121 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
-
-        <ros>
-          <!-- <namespace>/tb3</namespace> -->
-          <remapping>/tf:=tf</remapping>
-        </ros>
-
-        <!-- wheels -->
-        <left_joint>wheel_left_joint</left_joint>
-        <right_joint>wheel_right_joint</right_joint>
-
-        <!-- kinematics -->
-        <wheel_separation>0.287</wheel_separation>
-        <wheel_diameter>0.066</wheel_diameter>
-
-        <!-- limits -->
-        <max_wheel_torque>20</max_wheel_torque>
-        <max_wheel_acceleration>1.0</max_wheel_acceleration>
-
-        <!-- output -->
-        <publish_odom>true</publish_odom>
-        <publish_odom_tf>false</publish_odom_tf>
-        <publish_wheel_tf>false</publish_wheel_tf>
-
-        <odometry_frame>odom</odometry_frame>
-        <robot_base_frame>base_link</robot_base_frame>
-
-      </plugin>
-
-      <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
-        <ros>
-          <!-- <namespace>/tb3</namespace> -->
-          <remapping>~/out:=joint_states</remapping>
-        </ros>
-        <update_rate>250</update_rate>
-        <joint_name>wheel_left_joint</joint_name>
-        <joint_name>wheel_right_joint</joint_name>
-      </plugin>
-      
-    </model>
-
-  </world>
-</sdf>
-
diff --git a/nav2_system_tests/worlds/turtlebot3_ros2_demo_obstacle.world b/nav2_system_tests/worlds/turtlebot3_ros2_demo_obstacle.world
deleted file mode 100644
index b8c0d0d128..0000000000
--- a/nav2_system_tests/worlds/turtlebot3_ros2_demo_obstacle.world
+++ /dev/null
@@ -1,558 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
-
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <physics type="ode">
-      <real_time_update_rate>1000.0</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>150</iters>
-          <precon_iters>0</precon_iters>
-          <sor>1.400000</sor>
-          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
-        </solver>
-        <constraints>
-          <cfm>0.00001</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
-          <contact_surface_layer>0.01000</contact_surface_layer>
-        </constraints>
-      </ode>
-    </physics>
-
-    <model name="turtlebot3_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_world</uri>
-      </include>
-    </model>
-
-    <model name="turtlebot3">
-      <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
-
-      <link name="base_footprint"/>
-
-      <link name="base_link">
-
-        <inertial>
-          <pose>-0.064 0 0.048 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>1.0</mass>
-        </inertial>
-
-        <collision name="base_collision">
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.265 0.265 0.089</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <visual name="base_visual">
-          <pose>-0.064 0 0 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_waffle/meshes/waffle_base.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name="imu_link">
-        <sensor name="tb3_imu" type="imu">
-          <always_on>true</always_on>
-          <update_rate>200</update_rate>
-          <imu>
-            <angular_velocity>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </z>
-            </angular_velocity>
-            <linear_acceleration>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </z>
-            </linear_acceleration>
-          </imu>
-          <plugin name="my_imu_plugin" filename="libgazebo_ros_imu_sensor.so">
-            <initial_orientation_as_reference>false</initial_orientation_as_reference>
-            <ros>
-              <!-- <namespace>/tb3</namespace> -->
-              <remapping>~/out:=imu</remapping>
-            </ros>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="base_scan">
-        <inertial>
-          <pose>-0.052 0 0.111 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>0.125</mass>
-        </inertial>
-
-        <collision name="lidar_sensor_collision">
-            <pose>-0.020 0 0.161 0 0 0</pose>
-            <geometry>
-              <cylinder>
-                <radius>0.0508</radius>
-                <length>0.055</length>
-              </cylinder>
-            </geometry>
-          </collision>
-
-          <visual name="lidar_sensor_visual">
-            <pose>-0.064 0 0.121 0 0 0</pose>
-            <geometry>
-              <mesh>
-                <uri>model://turtlebot3_waffle/meshes/lds.dae</uri>
-                <scale>0.001 0.001 0.001</scale>
-              </mesh>
-            </geometry>
-          </visual>
-
-          <sensor name="hls_lfcd_lds" type="ray">
-            <always_on>true</always_on>
-            <visualize>false</visualize>
-            <pose>-0.064 0 0.121 0 0 0</pose>
-            <update_rate>5</update_rate>
-            <ray>
-              <scan>
-                <horizontal>
-                  <samples>360</samples>
-                  <resolution>1.000000</resolution>
-                  <min_angle>0.000000</min_angle>
-                  <max_angle>6.280000</max_angle>
-                </horizontal>
-              </scan>
-              <range>
-                <min>0.120000</min>
-                <max>3.5</max>
-                <resolution>0.015000</resolution>
-              </range>
-              <noise>
-                <type>gaussian</type>
-                <mean>0.0</mean>
-                <stddev>0.01</stddev>
-              </noise>
-            </ray>
-            <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
-              <ros>
-                <!-- <namespace>/tb3</namespace> -->
-                <remapping>~/out:=scan</remapping>
-              </ros>
-              <output_type>sensor_msgs/LaserScan</output_type>
-            </plugin>
-          </sensor>
-        </link>
-
-        <link name="wheel_left_link">
-
-          <inertial>
-            <pose>0.0 0.144 0.023 -1.57 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>0.1</mass>
-          </inertial>
-
-          <collision name="wheel_left_collision">
-            <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-            <geometry>
-              <cylinder>
-                <radius>0.033</radius>
-                <length>0.018</length>
-              </cylinder>
-            </geometry>
-            <surface>
-              <!-- This friction pamareter don't contain reliable data!! -->
-              <friction>
-                <ode>
-                  <mu>100000.0</mu>
-                  <mu2>100000.0</mu2>
-                  <fdir1>0 0 0</fdir1>
-                  <slip1>0.0</slip1>
-                  <slip2>0.0</slip2>
-                </ode>
-              </friction>
-              <contact>
-                <ode>
-                  <soft_cfm>0</soft_cfm>
-                  <soft_erp>0.2</soft_erp>
-                  <kp>1e+5</kp>
-                  <kd>1</kd>
-                  <max_vel>0.01</max_vel>
-                  <min_depth>0.001</min_depth>
-                </ode>
-              </contact>
-            </surface>
-          </collision>
-
-          <visual name="wheel_left_visual">
-            <pose>0.0 0.144 0.023 0 0 0</pose>
-            <geometry>
-              <mesh>
-                <uri>model://turtlebot3_waffle/meshes/left_tire.dae</uri>
-                <scale>0.001 0.001 0.001</scale>
-              </mesh>
-            </geometry>
-          </visual>
-        </link>
-
-        <link name="wheel_right_link">
-
-          <inertial>
-            <pose>0.0 -0.144 0.023 -1.57 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>0.1</mass>
-          </inertial>
-
-          <collision name="wheel_right_collision">
-            <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-            <geometry>
-              <cylinder>
-                <radius>0.033</radius>
-                <length>0.018</length>
-              </cylinder>
-            </geometry>
-            <surface>
-              <!-- This friction pamareter don't contain reliable data!! -->
-              <friction>
-                <ode>
-                  <mu>100000.0</mu>
-                  <mu2>100000.0</mu2>
-                  <fdir1>0 0 0</fdir1>
-                  <slip1>0.0</slip1>
-                  <slip2>0.0</slip2>
-                </ode>
-              </friction>
-              <contact>
-                <ode>
-                  <soft_cfm>0</soft_cfm>
-                  <soft_erp>0.2</soft_erp>
-                  <kp>1e+5</kp>
-                  <kd>1</kd>
-                  <max_vel>0.01</max_vel>
-                  <min_depth>0.001</min_depth>
-                </ode>
-              </contact>
-            </surface>
-          </collision>
-
-          <visual name="wheel_right_visual">
-            <pose>0.0 -0.144 0.023 0 0 0</pose>
-            <geometry>
-              <mesh>
-                <uri>model://turtlebot3_waffle/meshes/right_tire.dae</uri>
-                <scale>0.001 0.001 0.001</scale>
-              </mesh>
-            </geometry>
-          </visual>
-        </link>
-
-        <link name='caster_back_right_link'>
-          <pose>-0.177 -0.064 -0.004 0 0 0</pose>
-          <inertial>
-            <mass>0.001</mass>
-            <inertia>
-              <ixx>0.00001</ixx>
-              <ixy>0.000</ixy>
-              <ixz>0.000</ixz>
-              <iyy>0.00001</iyy>
-              <iyz>0.000</iyz>
-              <izz>0.00001</izz>
-            </inertia>
-          </inertial>
-          <collision name='collision'>
-            <geometry>
-              <sphere>
-                <radius>0.005000</radius>
-              </sphere>
-            </geometry>
-            <surface>
-              <contact>
-                <ode>
-                  <soft_cfm>0</soft_cfm>
-                  <soft_erp>0.2</soft_erp>
-                  <kp>1e+5</kp>
-                  <kd>1</kd>
-                  <max_vel>0.01</max_vel>
-                  <min_depth>0.001</min_depth>
-                </ode>
-              </contact>
-            </surface>
-          </collision>
-        </link>
-
-        <link name='caster_back_left_link'>
-          <pose>-0.177 0.064 -0.004 0 0 0</pose>
-          <inertial>
-            <mass>0.001</mass>
-            <inertia>
-              <ixx>0.00001</ixx>
-              <ixy>0.000</ixy>
-              <ixz>0.000</ixz>
-              <iyy>0.00001</iyy>
-              <iyz>0.000</iyz>
-              <izz>0.00001</izz>
-            </inertia>
-          </inertial>
-          <collision name='collision'>
-            <geometry>
-              <sphere>
-                <radius>0.005000</radius>
-              </sphere>
-            </geometry>
-            <surface>
-              <contact>
-                <ode>
-                  <soft_cfm>0</soft_cfm>
-                  <soft_erp>0.2</soft_erp>
-                  <kp>1e+5</kp>
-                  <kd>1</kd>
-                  <max_vel>0.01</max_vel>
-                  <min_depth>0.001</min_depth>
-                </ode>
-              </contact>
-            </surface>
-          </collision>
-        </link>
-
-        <joint name="base_joint" type="fixed">
-          <parent>base_footprint</parent>
-          <child>base_link</child>
-          <pose>0.0 0.0 0.010 0 0 0</pose>
-        </joint>
-
-        <joint name="wheel_left_joint" type="revolute">
-          <parent>base_link</parent>
-          <child>wheel_left_link</child>
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <axis>
-            <xyz>0 0 1</xyz>
-          </axis>
-        </joint>
-
-        <joint name="wheel_right_joint" type="revolute">
-          <parent>base_link</parent>
-          <child>wheel_right_link</child>
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <axis>
-            <xyz>0 0 1</xyz>
-          </axis>
-        </joint>
-
-        <joint name='caster_back_right_joint' type='ball'>
-          <parent>base_link</parent>
-          <child>caster_back_right_link</child>
-        </joint>
-
-        <joint name='caster_back_left_joint' type='ball'>
-          <parent>base_link</parent>
-          <child>caster_back_left_link</child>
-        </joint>
-
-        <joint name="imu_joint" type="fixed">
-          <parent>base_link</parent>
-          <child>imu_link</child>
-          <pose>-0.032 0 0.068 0 0 0</pose>
-          <axis>
-            <xyz>0 0 1</xyz>
-          </axis>
-        </joint>
-
-        <joint name="lidar_joint" type="fixed">
-          <parent>base_link</parent>
-          <child>base_scan</child>
-          <pose>-0.064 0 0.121 0 0 0</pose>
-          <axis>
-            <xyz>0 0 1</xyz>
-          </axis>
-        </joint>
-
-        <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
-
-          <ros>
-            <!-- <namespace>/tb3</namespace> -->
-            <remapping>/tf:=tf</remapping>
-          </ros>
-
-          <!-- wheels -->
-          <left_joint>wheel_left_joint</left_joint>
-          <right_joint>wheel_right_joint</right_joint>
-
-          <!-- kinematics -->
-          <wheel_separation>0.287</wheel_separation>
-          <wheel_diameter>0.066</wheel_diameter>
-
-          <!-- limits -->
-          <max_wheel_torque>20</max_wheel_torque>
-          <max_wheel_acceleration>1.0</max_wheel_acceleration>
-
-          <!-- output -->
-          <publish_odom>true</publish_odom>
-          <publish_odom_tf>true</publish_odom_tf>
-          <publish_wheel_tf>false</publish_wheel_tf>
-
-          <odometry_frame>odom</odometry_frame>
-          <robot_base_frame>base_footprint</robot_base_frame>
-
-        </plugin>
-
-        <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
-          <ros>
-            <!-- <namespace>/tb3</namespace> -->
-            <remapping>~/out:=joint_states</remapping>
-          </ros>
-          <update_rate>250</update_rate>
-          <joint_name>wheel_left_joint</joint_name>
-          <joint_name>wheel_right_joint</joint_name>
-        </plugin>
-
-    </model>
-
-    <model name='cardboard_box'>
-      <pose frame=''>-1.0 0.6 0.15 0 -0 0</pose>
-
-      <link name='link'>
-        <inertial>
-          <mass>20</mass>
-          <inertia>
-            <ixx>0.0416667</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.0566667</iyy>
-            <iyz>0</iyz>
-            <izz>0.0683333</izz>
-          </inertia>
-          <pose frame=''>0 0 0 0 -0 0</pose>
-        </inertial>
-
-        <collision name='collision'>
-          <geometry>
-            <box>
-              <size>0.5 0.4 0.3</size>
-            </box>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <contact>
-              <ode>
-                <kp>1e+07</kp>
-                <kd>1</kd>
-                <min_depth>0.001</min_depth>
-                <max_vel>0.1</max_vel>
-              </ode>
-            </contact>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-
-        <visual name='visual'>
-          <pose frame=''>0 0 -0.15 0 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
-              <scale>1.25932 1.00745 0.755591</scale>
-            </mesh>
-          </geometry>
-        </visual>
-
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-
-  </world>
-</sdf>
diff --git a/nav2_system_tests/worlds/world_only.model b/nav2_system_tests/worlds/world_only.model
deleted file mode 100644
index 4c45d4e2f9..0000000000
--- a/nav2_system_tests/worlds/world_only.model
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
-
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <physics type="ode">
-      <real_time_update_rate>1000.0</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>150</iters>
-          <precon_iters>0</precon_iters>
-          <sor>1.400000</sor>
-          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
-        </solver>
-        <constraints>
-          <cfm>0.00001</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
-          <contact_surface_layer>0.01000</contact_surface_layer>
-        </constraints>
-      </ode>
-    </physics>
-
-    <model name="turtlebot3_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_world</uri>
-      </include>
-    </model>
-
-  </world>
-</sdf>