diff --git a/urc_gazebo/launch/spawn_walli.py b/urc_gazebo/launch/spawn_walli.py
index c1f30607..efb86ee7 100755
--- a/urc_gazebo/launch/spawn_walli.py
+++ b/urc_gazebo/launch/spawn_walli.py
@@ -12,7 +12,7 @@
 
 def generate_launch_description():
     urdf_path = 'urdf/walli.xacro'
-    xacro_file = os.path.join(get_package_share_directory('urc_gazebo'), urdf_path)
+    xacro_file = os.path.join(get_package_share_directory('urc_hw_description'), urdf_path)
     assert os.path.exists(xacro_file), "urdf path doesnt exist in "+str(xacro_file)
     use_sim_time = LaunchConfiguration('use_sim_time', default='true')
 
diff --git a/urc_gazebo/urdf/panda.urdf b/urc_gazebo/urdf/panda.urdf
deleted file mode 100644
index f2c8d815..00000000
--- a/urc_gazebo/urdf/panda.urdf
+++ /dev/null
@@ -1,428 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <link name="world"/>
-  <link name="panda_link0">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.05"/>
-       <mass value="2.9"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link0.obj"/>
-      </geometry>
-      <material name="panda_white">
-    		<color rgba="1. 1. 1. 1."/>
-  		</material>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link0.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="world_to_base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="world"/>
-    <child link="panda_link0"/>
-  </joint>
-  <link name="panda_link1">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
-       <mass value="2.7"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/link1.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link1.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint1" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="0 0 0" xyz="0 0 0.333"/>
-    <parent link="panda_link0"/>
-    <child link="panda_link1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link2">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
-       <mass value="2.73"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/link2.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link2.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint2" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
-    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
-    <parent link="panda_link1"/>
-    <child link="panda_link2"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link3">
-	  <inertial>
-      <origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
-       <mass value="2.04"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/link3.obj"/>
-      </geometry>
-      <material name="panda_red">
-    		<color rgba="1. 1. 1. 1."/>
-  		</material>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link3.obj"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint3" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
-    <parent link="panda_link2"/>
-    <child link="panda_link3"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link4">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
-       <mass value="2.08"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/link4.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link4.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint4" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
-    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
-    <parent link="panda_link3"/>
-    <child link="panda_link4"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link5">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
-       <mass value="3"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/link5.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link5.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint5" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
-    <parent link="panda_link4"/>
-    <child link="panda_link5"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
-  </joint>
-  <link name="panda_link6">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0.04 0 0"/>
-       <mass value="1.3"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/link6.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link6.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint6" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-    <parent link="panda_link5"/>
-    <child link="panda_link6"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
-  </joint>
-  <link name="panda_link7">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.08"/>
-       <mass value=".2"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link7.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/link7.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint7" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
-    <parent link="panda_link6"/>
-    <child link="panda_link7"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
-  </joint>
-  <link name="panda_link8">
-  	 <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.0"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-  </link>
-  <joint name="panda_joint8" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.107"/>
-    <parent link="panda_link7"/>
-    <child link="panda_link8"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <joint name="panda_hand_joint" type="fixed">
-    <parent link="panda_link8"/>
-    <child link="panda_hand"/>
-    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
-  </joint>
-  <link name="panda_hand">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.04"/>
-       <mass value=".81"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/hand.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/hand.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <link name="panda_leftfinger">
-       <contact>
-      <friction_anchor/>
-      <stiffness value="30000.0"/>
-      <damping value="1000.0"/>
-      <spinning_friction value="0.1"/>
-      <lateral_friction value="1.0"/>
-    </contact>
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0.01 0.02"/>
-       <mass value="0.1"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/finger.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/finger.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <link name="panda_rightfinger">
-        <contact>
-      <friction_anchor/>
-      <stiffness value="30000.0"/>
-      <damping value="1000.0"/>
-      <spinning_friction value="0.1"/>
-      <lateral_friction value="1.0"/>
-    </contact>
-
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
-       <mass value="0.1"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/visual/finger.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="$(find urc_gazebo)/urdf/meshes/collision/finger.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_finger_joint1" type="prismatic">
-    <parent link="panda_hand"/>
-    <child link="panda_leftfinger"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
-  </joint>
-  <joint name="panda_finger_joint2" type="prismatic">
-    <parent link="panda_hand"/>
-    <child link="panda_rightfinger"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
-    <mimic joint="panda_finger_joint1"/>
-  </joint>
-   <link name="panda_grasptarget">
- <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.0"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-   </link>
-   <joint name="panda_grasptarget_hand" type="fixed">
-    <parent link="panda_hand"/>
-    <child link="panda_grasptarget"/>
-    <origin rpy="0 0 0" xyz="0 0 0.105"/>
-  </joint>
-  
-  <ros2_control name="GazeboSystem" type="system">
-    <hardware>
-      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-    </hardware>
-    <joint name ="panda_joint1">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    <joint name ="panda_joint2">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    <joint name ="panda_joint3">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    <joint name ="panda_joint4">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    <joint name ="panda_joint5">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    <joint name ="panda_joint6">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    <joint name ="panda_joint7">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    <joint name ="panda_finger_joint1">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    <joint name ="panda_finger_joint2">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    </ros2_control>
-
-  <gazebo>
-    <plugin name ="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-      <!-- problematic: yaml parse crashes simulation-->
-      <parameters>$(find urc_gazebo)/urdf/config/Panda_params.yaml</parameters>
-    </plugin>
-  </gazebo>
-</robot>
diff --git a/urc_gazebo/urdf/ros2_control.xacro b/urc_gazebo/urdf/ros2_control.xacro
deleted file mode 100644
index 7666e9eb..00000000
--- a/urc_gazebo/urdf/ros2_control.xacro
+++ /dev/null
@@ -1,141 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-
-    <ros2_control name="GazeboSystem" type="system">
-        <hardware>
-            <!-- TODO make a launch param to switch between real/fake hardware. You can only use ONE. -->
-            <!--Use for functionality in Gazebo, also needed for drivetrain-->
-            <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-            <!--Use for functionality in RViz-->
-            <!-- <plugin>mock_components/GenericSystem</plugin> -->
-            <!-- <plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin> -->
-        </hardware>
-        <joint name="left_front_wheel_joint">
-            <command_interface name="velocity">
-                <param name="min">-0.05</param>
-                <param name="max">0.05</param>
-            </command_interface>
-            <state_interface name="velocity"/>
-            <state_interface name="position"/>
-        </joint>
-        <joint name="right_front_wheel_joint">
-            <command_interface name="velocity">
-                <param name="min">-0.05</param>
-                <param name="max">0.05</param>
-            </command_interface>
-            <state_interface name="velocity"/>
-            <state_interface name="position"/>
-        </joint>
-        <joint name="left_center_wheel_joint">
-            <command_interface name="velocity">
-                <param name="min">-0.05</param>
-                <param name="max">0.05</param>
-            </command_interface>
-            <state_interface name="velocity"/>
-            <state_interface name="position"/>
-        </joint>
-        <joint name="right_center_wheel_joint">
-            <command_interface name="velocity">
-                <param name="min">-0.05</param>
-                <param name="max">0.05</param>
-            </command_interface>
-            <state_interface name="velocity"/>
-            <state_interface name="position"/>
-        </joint>
-        <joint name="left_rear_wheel_joint">
-            <command_interface name="velocity">
-                <param name="min">-0.05</param>
-                <param name="max">0.05</param>
-            </command_interface>
-            <state_interface name="velocity"/>
-            <state_interface name="position"/>
-        </joint>
-        <joint name="right_rear_wheel_joint">
-            <command_interface name="velocity">
-                <param name="min">-0.05</param>
-                <param name="max">0.05</param>
-            </command_interface>
-            <state_interface name="velocity"/>
-            <state_interface name="position"/>
-        </joint>
-      <joint name ="shoulderjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      
-      <joint name ="bicepjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-
-      <joint name ="elbowjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-	<joint name ="forearmjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-	<joint name ="wristjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      
-      <joint name ="clawjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      
-      <joint name ="leftgripperjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      
-      <joint name ="rightgripperjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    </ros2_control>
-
-    <gazebo>
-        <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-            <parameters>$(find urc_gazebo)/config/my_controllers.yaml</parameters>
-            <!-- Below is the one needed for the arm -->
-            <!-- <parameters>file://$(find urc_gazebo)/urdf/config/RoboticArm_params.yaml</parameters> -->
-        </plugin>
-    </gazebo>
-    
-</robot>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/walli.xacro b/urc_gazebo/urdf/walli.xacro
deleted file mode 100644
index ea3c2044..00000000
--- a/urc_gazebo/urdf/walli.xacro
+++ /dev/null
@@ -1,547 +0,0 @@
-<?xml version='1.0'?>
-<robot name="walli" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:include filename="walli_prop.xacro"/>
-  <xacro:include filename="walli_inertials.xacro"/>
-  <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
-  <xacro:include filename="walli_arm.urdf"/>
-  <xacro:include filename="ros2_control.xacro"/>
-  
-  <!-- Rover Base Link -->
-  <link name="base_link">
-    <visual>
-      <geometry>
-        <box size="${base_length} ${base_width} ${base_height}"/>
-      </geometry>
-      <material name="Cyan">
-        <color rgba="0 1.0 1.0 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="${base_length} ${base_width} ${base_height}"/>
-      </geometry>
-    </collision>
-    <xacro:box_inertia m="15" w="${base_width}" d="${base_length}" h="${base_height}"/>
-  </link>
-  <gazebo reference="base_link">
-    <material>Gazebo/Red</material>
-  </gazebo>
-  
-
-  <!-- Wheels -->
-  <xacro:macro name="wheel" params="prefix x_reflect y_reflect">
-    <link name="${prefix}_link">
-      <visual>
-        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
-        <geometry>
-          <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
-        </geometry>
-        <material name="Gray">
-          <color rgba="0.5 0.5 0.5 1.0"/>
-        </material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
-        <geometry>
-          <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
-        </geometry>
-      </collision>
-      <xacro:cylinder_inertia m="0.5" r="${wheel_radius}" h="${wheel_width}"/>
-    </link>
-    <joint name="${prefix}_joint" type="continuous">
-      <parent link="base_link"/>
-      <child link="${prefix}_link"/>
-      <origin xyz="${x_reflect*wheel_xoff} ${y_reflect*(base_width/2+wheel_ygap)} ${-wheel_zoff}" rpy="0 0 0"/>
-      <axis xyz="0 1 0"/>
-      <limit effort="${axle_eff_limit}" velocity="${axle_vel_limit}"/>
-      <dynamics damping="0" friction="4.0" />
-    </joint>
-    <gazebo reference="${prefix}_link">
-      <material>Gazebo/Black</material>
-    </gazebo>
-  </xacro:macro>
-  <xacro:wheel prefix="left_front_wheel"   x_reflect="1" y_reflect="1"/>
-  <xacro:wheel prefix="left_center_wheel"  x_reflect="0" y_reflect="1"/>
-  <xacro:wheel prefix="left_rear_wheel"    x_reflect="-1" y_reflect="1"/>
-  <xacro:wheel prefix="right_front_wheel"  x_reflect="1" y_reflect="-1"/>
-  <xacro:wheel prefix="right_center_wheel" x_reflect="0" y_reflect="-1"/>
-  <xacro:wheel prefix="right_rear_wheel"   x_reflect="-1" y_reflect="-1"/>
-
-  <!-- Robot Footprint -->
-  <link name="base_footprint"/>
-  <joint name="base_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_footprint"/>
-    <origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0"/>
-  </joint>
-  
-  <!-- Arm Joint -->
-  <joint name="arm_to_rover" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="arm_base_link"/>
-    <dynamics damping="60.0" friction="4.0"/>
-  </joint>
-
-  <!-- IMU -->
-  <link name="imu_link">
-    <visual>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </collision>
-    <xacro:box_inertia m="0.1" w="0.1" d="0.1" h="0.1"/>
-  </link>
-  <joint name="imu_joint" type="fixed">
-		<axis xyz="1 0 0"/>
-		<origin xyz="0 0 0.05"/>
-		<parent link="base_link"/>
-		<child link="imu_link"/>
-	</joint>
-	<gazebo reference="imu_link">
-    <sensor name="imu_sensor" type="imu">
-      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
-        <ros>
-          <namespace>/imu</namespace>
-          <remapping>~/out:=data</remapping>
-        </ros>
-        <initial_orientation_as_reference>false</initial_orientation_as_reference>
-      </plugin>
-      <always_on>true</always_on>
-      <update_rate>100</update_rate>
-      <visualize>true</visualize>
-     <imu>
-     	<angular_velocity>
-     	  <x>
-     	    <noise type="gaussian">
-              <mean>0.0</mean>
-              <stddev>2e-4</stddev>
-              <bias_mean>0.0000075</bias_mean>
-              <bias_stddev>0.0000008</bias_stddev>
-            </noise>
-          </x>
-          <y>
-            <noise type="gaussian">
-              <mean>0.0</mean>
-              <stddev>2e-4</stddev>
-              <bias_mean>0.0000075</bias_mean>
-              <bias_stddev>0.0000008</bias_stddev>
-            </noise>
-          </y>
-          <z>
-            <noise type="gaussian">
-              <mean>0.0</mean>
-              <stddev>2e-4</stddev>
-              <bias_mean>0.0000075</bias_mean>
-              <bias_stddev>0.0000008</bias_stddev>
-            </noise>
-          </z>
-        </angular_velocity>
-        <linear_acceleration>
-          <x>
-            <noise type="gaussian">
-              <mean>0.0</mean>
-              <stddev>1.7e-2</stddev>
-              <bias_mean>0.1</bias_mean>
-              <bias_stddev>0.001</bias_stddev>
-            </noise>
-          </x>
-          <y>
-            <noise type="gaussian">
-              <mean>0.0</mean>
-              <stddev>1.7e-2</stddev>
-              <bias_mean>0.1</bias_mean>
-              <bias_stddev>0.001</bias_stddev>
-            </noise>
-          </y>
-          <z>
-            <noise type="gaussian">
-              <mean>0.0</mean>
-              <stddev>1.7e-2</stddev>
-              <bias_mean>0.1</bias_mean>
-              <bias_stddev>0.001</bias_stddev>
-            </noise>
-          </z>
-        </linear_acceleration>
-      </imu>
-    </sensor>
-  </gazebo>
-
-
-  <gazebo>
-  <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
-    <ros>
-      <namespace>/sensor</namespace>
-    </ros>
-    <!-- wheels -->
-    <left_joint>left_front_wheel_joint</left_joint>
-    <right_joint>right_front_wheel_joint</right_joint>
-    <!-- kinematics -->
-    <wheel_separation>0.4</wheel_separation>
-    <wheel_diameter>0.2</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>true</publish_wheel_tf>
-    <odometry_frame>odom</odometry_frame>
-    <robot_base_frame>base_link</robot_base_frame>
-  </plugin>
-</gazebo>
-
-  <!-- GPS -->
-  <link name="gps">
-    <visual>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </collision>
-    <xacro:box_inertia m="0.1" w="0.1" d="0.1" h="0.1"/>
-  </link>
-   <joint name="gps_joint" type="fixed">
-		<axis xyz="1 0 0"/>
-		<origin xyz="0 0 0.05"/>
-		<parent link="base_link"/>
-		<child link="gps"/>
-	</joint>
-  <gazebo reference="gps">
-    <sensor name="gps" type="gps">
-      <plugin filename="libgazebo_ros_gps_sensor.so" name="gps_plugin">
-          <ros>
-            <namespace>/gps</namespace>
-            <remapping>~/out:=data</remapping>
-          </ros>
-          <frame_name>gps</frame_name>
-        </plugin>
-        <always_on>true</always_on>
-        <updateRate>30</updateRate>
-    </sensor>
-  </gazebo>
-
-   <!-- LIDAR -->
-  <link name="lidar_link">
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="0.125"/>
-      <inertia ixx="0.001"  ixy="0"  ixz="0" iyy="0.001" iyz="0" izz="0.001" />
-    </inertial>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder radius="0.0508" length="0.055"/>
-      </geometry>
-    </collision>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder radius="0.0508" length="0.055"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="lidar_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="lidar_link"/>
-    <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0"/>
-  </joint>
-  <!-- <xacro:VLP-16 parent="lidar_link" name="lidar" topic="/scan" hz="${lidar_hz}" samples="${lidar_samples}" gpu="false">
-    <origin xyz="${lidar_x} 0.0 ${lidar_z}" rpy="0 ${lidar_pitch} 0" />
-  </xacro:VLP-16> -->
-  <gazebo reference="lidar_link">
-  <sensor name="lidar" type="ray">
-    <always_on>true</always_on>
-    <visualize>true</visualize>
-    <update_rate>5</update_rate>
-    <ray>
-      <scan>
-        <horizontal>
-          <samples>360</samples>
-          <resolution>1.000000</resolution>
-          <min_angle>0.000000</min_angle>
-          <max_angle>6.280000</max_angle>
-        </horizontal>
-      </scan>
-      <range>
-        <min>0.12</min>
-        <max>3.5</max>
-        <resolution>0.015000</resolution>
-      </range>
-      <noise>
-        <type>gaussian</type>
-        <mean>0.0</mean>
-        <stddev>0.01</stddev>
-      </noise>
-    </ray>
-    <plugin name="scan" filename="libgazebo_ros_ray_sensor.so">
-      <ros>
-        <remapping>~/out:=scan</remapping>
-      </ros>
-      <output_type>sensor_msgs/LaserScan</output_type>
-      <frame_name>lidar_link</frame_name>
-    </plugin>
-  </sensor>
-</gazebo>
-
-  <!-- May want to change this to a depth camera -->
-  <xacro:macro name="camera" params="orientation origin_x origin_y origin_z yaw">
-    <link name="cam/${orientation}">
-      <visual>
-        <geometry>
-          <box size="0.01 0.01 0.01"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.01 0.01 0.01"/>
-        </geometry>
-      </collision>
-      <xacro:box_inertia m="0.01" w="0.01" d="0.01" h="0.01"/>
-    </link>
-    <joint name="${orientation}_cam_joint" type="fixed">
-  	  <axis xyz="1 0 0"/>
-      <!-- Camera Orientation-->
-	    <origin xyz="${origin_x} ${origin_y} ${origin_z}" rpy = "0 0 ${yaw}"/>
-	    <parent link="base_link"/>
-	    <child link="cam/${orientation}"/>
-    </joint>
-    <gazebo reference="cam/${orientation}">
-      <sensor name="${orientation}_sensor" type="camera">
-        <plugin name="${orientation}_sensor" filename="libgazebo_ros_camera.so">
-          <ros>
-            <namespace>/image</namespace>
-            <remapping>~/image_raw:=${orientation}_img</remapping>
-            <remapping>~/camera_info:=${orientation}_camera_info</remapping>
-          </ros>
-          <initial_orientation_as_reference>false</initial_orientation_as_reference>
-          <camera_name>${orientation}_camera</camera_name>
-          <frame_name>${orientation}_tf</frame_name>
-          <hack_baseline>0.07</hack_baseline>
-        </plugin>
-        <always_on>true</always_on>
-        <update_rate>100</update_rate>
-        <visualize>true</visualize>
-        <camera name="cam/${orientation}">
-          <horizontal_fov>1.3962634</horizontal_fov>
-          <image>
-            <width>800</width>
-            <height>800</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.02</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
-    </gazebo>
-  </xacro:macro>
-  <xacro:camera orientation="center" origin_x="0.1" origin_y="0"    origin_z="0" yaw="-0.14"/>
-  <xacro:camera orientation="left"   origin_x="0"    origin_y="0.1"  origin_z="0"    yaw="1.5"/>
-  <xacro:camera orientation="right"  origin_x="0"    origin_y="-0.1" origin_z="0"    yaw="-1.5"/>
-
-
-<!-- Depth Camera (addition for Nav2) -->
-<link name="camera_link">
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.015 0.130 0.022"/>
-    </geometry>
-  </visual>
-
-  <collision>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.015 0.130 0.022"/>
-    </geometry>
-  </collision>
-
-  <inertial>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <mass value="0.035"/>
-    <inertia ixx="0.001"  ixy="0"  ixz="0" iyy="0.001" iyz="0" izz="0.001" />
-  </inertial>
-</link>
-
-<joint name="camera_joint" type="fixed">
-  <parent link="base_link"/>
-  <child link="camera_link"/>
-  <origin xyz="0.1 0 0.03" rpy="0 0 0"/>
-</joint>
-
-<link name="camera_depth_frame"/>
-
-<joint name="camera_depth_joint" type="fixed">
-  <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
-  <parent link="camera_link"/>
-  <child link="camera_depth_frame"/>
-</joint>
-
-<gazebo reference="camera_link">
-  <sensor name="depth_camera" type="depth">
-    <visualize>true</visualize>
-    <update_rate>30.0</update_rate>
-    <camera name="camera">
-      <horizontal_fov>1.047198</horizontal_fov>
-      <image>
-        <width>640</width>
-        <height>480</height>
-        <format>R8G8B8</format>
-      </image>
-      <clip>
-        <near>0.05</near>
-        <far>3</far>
-      </clip>
-    </camera>
-    <plugin name="depth_camera_controller" filename="libgazebo_ros_camera.so">
-      <baseline>0.2</baseline>
-      <alwaysOn>true</alwaysOn>
-      <updateRate>0.0</updateRate>
-      <frame_name>camera_depth_frame</frame_name>
-      <pointCloudCutoff>0.5</pointCloudCutoff>
-      <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
-      <distortionK1>0</distortionK1>
-      <distortionK2>0</distortionK2>
-      <distortionK3>0</distortionK3>
-      <distortionT1>0</distortionT1>
-      <distortionT2>0</distortionT2>
-      <CxPrime>0</CxPrime>
-      <Cx>0</Cx>
-      <Cy>0</Cy>
-      <focalLength>0</focalLength>
-      <hackBaseline>0</hackBaseline>
-    </plugin>
-  </sensor>
-</gazebo>
-
-
-
-
-
-
-
-
-
-
-
-
-    
-  <gazebo>
-    <sensor name="imu" type="imu">
-      <always_on>true</always_on>
-      <update_rate>30</update_rate>
-      <plugin name="imu" filename="libgazebo_ros_imu_sensor.so">
-        <ros>
-          <namespace>/imu</namespace>
-          <argument>~/out:=data</argument>
-        </ros>
-        <frame_name>imu</frame_name>
-      </plugin>
-    </sensor>            
-    <plugin name="gazebo_ros_p3d" filename="libgazebo_ros_p3d.so">
-      <alwaysOn>true</alwaysOn>
-      <update_rate>30.0</update_rate>
-      <ros>
-        <namespace>/ground_truth</namespace>
-        <remapping>odom:=state_raw</remapping>
-      </ros>
-      <body_name>base_link</body_name>
-      <frame_name>world</frame_name>
-
-      <xyz_offset>0 0 0</xyz_offset>
-      <rpy_offset>0.0 0.0 0.0</rpy_offset>
-      <gaussian_noise>0.00</gaussian_noise>
-    </plugin>
-  </gazebo>
-
-</robot>
-
-    <!-- Mock/Untested ros2 control scheme for operating the rover with ros2 control.
-    This matches how the control is supposed to be set up, but is commented out
-    because the way the urdf is designed, it interferes with the arm control. -->
-    <!--
-    <ros2_control name="rover_control" type="system">
-    <hardware>
-      <plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
-    </hardware>
-    <joint name="left_bogie_front_axle">
-      <command_interface name="velocity">
-        <param name="min">-1</param>
-        <param name="max">1</param>
-      </command_interface>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="left_bogie_rear_axle">
-      <command_interface name="velocity">
-        <param name="min">-1</param>
-        <param name="max">1</param>
-      </command_interface>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="left_rocker_rear_axle">
-      <command_interface name="velocity">
-        <param name="min">-1</param>
-        <param name="max">1</param>
-      </command_interface>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="right_bogie_front_axle">
-      <command_interface name="velocity">
-        <param name="min">-1</param>
-        <param name="max">1</param>
-      </command_interface>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="right_bogie_rear_axle">
-      <command_interface name="velocity">
-        <param name="min">-1</param>
-        <param name="max">1</param>
-      </command_interface>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="right_rocker_rear_axle">
-      <command_interface name="velocity">
-        <param name="min">-1</param>
-        <param name="max">1</param>
-      </command_interface>
-      <state_interface name="velocity"/>
-    </joint>
-    <transmission name="rover_transmission">
-      <plugin>transmission_interface/SimpleTransmission</plugin>
-      <joint name="left_bogie_front_axle" role="left_bogie_front_axle">
-        <mechanical_reduction>1</mechanical_reduction>
-      </joint>
-      <joint name="left_bogie_rear_axle" role="left_bogie_rear_axle">
-        <mechanical_reduction>1</mechanical_reduction>
-      </joint>
-      <joint name="left_rocker_rear_axle" role="left_rocker_rear_axle">
-        <mechanical_reduction>1</mechanical_reduction>
-      </joint>
-      <joint name="right_bogie_front_axle" role="right_bogie_front_axle">
-        <mechanical_reduction>1</mechanical_reduction>
-      </joint>
-      <joint name="right_bogie_rear_axle" role="right_bogie_rear_axle">
-        <mechanical_reduction>1</mechanical_reduction>
-      </joint>
-      <joint name="right_rocker_rear_axle" role="right_rocket_rear_axle">
-        <mechanical_reduction>1</mechanical_reduction>
-      </joint>
-    </transmission>
-    </ros2_control>
-    -->
diff --git a/urc_gazebo/urdf/walli_arm.urdf b/urc_gazebo/urdf/walli_arm.urdf
deleted file mode 100755
index d5414741..00000000
--- a/urc_gazebo/urdf/walli_arm.urdf
+++ /dev/null
@@ -1,400 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
-     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot name="walli_arm">
-  <link name="arm_base_link">
-    <inertial>
-      <origin xyz="-8.1195E-05 0.025555 0.31181" rpy="0 0 0" />
-      <mass value="0.56817" />
-      <inertia ixx="0.010817" ixy="4.4773E-13" ixz="-4.0161E-12"
-        iyy="0.010818" iyz="1.3408E-13" izz="0.00040167" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/base_link.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/base_link_collision.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <link name="shoulder">
-    <inertial>
-      <origin xyz="-0.04837 -0.018689 -0.068105" rpy="0 0 0" />
-      <mass value="3.586" />
-      <inertia ixx="0.004611" ixy="1.9578E-06" ixz="-4.7127E-06"
-        iyy="0.0037191" iyz="-4.489E-06" izz="0.0029735" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/shoulder.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/shoulder_collision.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="shoulderjoint" type="continuous">
-    <origin xyz="0.00028389 0.0254 0.62708" rpy="0 0 0" />
-    <parent link="arm_base_link" />
-    <child link="shoulder" />
-    <axis xyz="0 0 -1" />
-    <dynamics damping="60.0" friction="4.0" />
-  </joint>
-  <link name="bicep">
-  <inertial>
-    <origin xyz="0.12104 0.17465 -1.6653E-16" rpy="0 0 0" />
-    <mass value="0.55725" />
-    <inertia ixx="0.0061511" ixy="5.9124E-19" ixz="-2.0963E-21"
-      iyy="6.7641E-05" iyz="-9.6466E-19" izz="0.0061546" />
-  </inertial>
-  <visual>
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <geometry>
-      <mesh
-        filename="file://$(find urc_gazebo)/urdf/meshes/bicep.STL" />
-    </geometry>
-    <material
-      name="">
-      <color
-        rgba="0.75294 0.75294 0.75294 1" />
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 0" rpy="0 0 0" />
-    <geometry>
-      <mesh filename="file://$(find urc_gazebo)/urdf/meshes/bicep_collision.STL" />
-    </geometry>
-  </collision>
-</link>
-<joint name="bicepjoint" type="revolute">
-  <origin xyz="-0.12131 0.046323 -0.052413" rpy="0 0 0" />
-  <parent link="shoulder" />
-  <child link="bicep" />
-  <axis xyz="1 0 0" />
-  <limit lower="-1.57" upper="1.57" effort="0" velocity="0" />
-  <dynamics damping="60.0" friction="4.0" />
-</joint>
-<link name="elbow">
-  <inertial>
-    <origin xyz="-0.06786 0.023863 0.062716" rpy="0 0 0" />
-    <mass value="3.1709" />
-    <inertia ixx="0.0039723" ixy="1.1762E-06" ixz="1.6958E-06"
-      iyy="0.0039893" iyz="6.6104E-06" izz="0.0017383" />
-  </inertial>
-  <visual>
-    <origin xyz="0 0 0" rpy="0 0 0" />
-    <geometry>
-      <mesh filename="file://$(find urc_gazebo)/urdf/meshes/elbow.STL" />
-    </geometry>
-    <material name="">
-      <color rgba="0.75294 0.75294 0.75294 1" />
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 0" rpy="0 0 0" />
-    <geometry>
-      <mesh filename="file://$(find urc_gazebo)/urdf/meshes/elbow_collision.STL" />
-    </geometry>
-  </collision>
-  </link>
-  <joint name="elbowjoint" type="revolute">
-    <origin xyz="0.24206 0.34925 0" rpy="0 0 0" />
-    <parent link="bicep" />
-    <child link="elbow" />
-    <axis xyz="1 0 0" />
-    <limit lower="-1.57" upper="1.57" effort="0" velocity="0" />
-    <dynamics damping="60.0" friction="4.0" />
-  </joint>
-  <link name="forearm">
-    <inertial>
-      <origin xyz="-0.00011067 9.3127E-05 -0.45483" rpy="0 0 0" />
-      <mass value="0.53926" />
-      <inertia ixx="0.0024603" ixy="-2.3325E-08" ixz="-3.8937E-11"
-        iyy="0.0024892" iyz="3.5055E-11" izz="0.00029125" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/forearm.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/forearm_collision.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="forearmjoint" type="continuous">
-    <origin xyz="-0.12103 0.046323 0.23626" rpy="0 0 0" />
-    <parent link="elbow" />
-    <child link="forearm" />
-    <axis xyz="0 0 -1" />
-    <dynamics damping="60.0" friction="4.0" />
-  </joint>
-  <link name="wrist">
-    <inertial>
-      <origin xyz="-0.043952 -0.063003 -0.0020958" rpy="0 0 0" />
-      <mass value="2.4599" />
-      <inertia ixx="0.0011935" ixy="-4.0524E-07" ixz="-2.2366E-06"
-        iyy="0.0018813" iyz="-1.0459E-06" izz="0.0019208" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/wrist.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/wrist_collision.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="wristjoint" type="revolute">
-    <origin xyz="0 0.11071 -0.63096" rpy="0 0 0" />
-    <parent link="forearm" />
-    <child link="wrist" />
-    <axis xyz="0 -1 0" />
-    <limit lower="-1.57" upper="1.57" effort="0" velocity="0" />
-    <dynamics damping="60.0" friction="4.0" />
-  </joint>
-  <link name="claw">
-    <inertial>
-      <origin xyz="0.42253 3.8235E-07 6.7396E-05" rpy="0 0 0" />
-      <mass value="1.4352" />
-      <inertia ixx="0.0010292" ixy="1.5887E-07" ixz="1.398E-07"
-        iyy="0.0012655" iyz="1.8778E-08" izz="0.0020608" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/claw.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/claw_collision.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="clawjoint" type="continuous">
-    <origin xyz="-0.23582 -0.11071 -0.034131" rpy="0 0 0" />
-    <parent link="wrist" />
-    <child link="claw" />
-    <axis xyz="1 0 0" />
-    <dynamics damping="60.0" friction="4.0" />
-  </joint>
-  <link name="leftgripper">
-    <inertial>
-      <origin xyz="0.11047 -0.031729 -0.011112" rpy="0 0 0" />
-      <mass value="0.3358" />
-      <inertia ixx="0.00013218" ixy="7.9073E-05" ixz="2.0634E-18"
-        iyy="0.00064815" iyz="-5.0458E-19" izz="0.00066862" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/leftgripper.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.89804 0.91765 0.92941 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/leftgripper_collision.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="leftgripperjoint" type="revolute">
-    <origin xyz="0.55008 0.080202 0.011112" rpy="0 0 0" />
-    <parent link="claw" />
-    <child link="leftgripper" />
-    <axis xyz="0 0 1" />
-    <limit lower="-0.6" upper="1.57" effort="0" velocity="0" />
-    <dynamics damping="60.0" friction="4.0" />
-  </joint>
-  <link name="rightgripper">
-    <inertial>
-      <origin xyz="0.11047 0.031729 -0.0127" rpy="0 0 0" />
-      <mass value="0.3358" />
-      <inertia ixx="0.00013218" ixy="-7.9073E-05" ixz="-1.0118E-18"
-        iyy="0.00064815" iyz="-3.1698E-19" izz="0.00066862" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/rightgripper.STL" />
-      </geometry>
-      <material name="">
-        <color rgba="0.50196 0.50196 0.50196 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find urc_gazebo)/urdf/meshes/rightgripper_collision.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="rightgripperjoint" type="revolute">
-    <origin xyz="0.55008 -0.080283 0.0127" rpy="0 0 0" />
-    <parent link="claw" />
-    <child link="rightgripper" />
-    <axis xyz="0 0 -1" />
-    <limit lower="-1.57" upper="0.6" effort="0" velocity="0" />
-    <dynamics damping="60.0" friction="4.0" />
-    <mimic joint="leftgripperjoint" multiplier="1" offset="0" />
-  </joint>
-  
-  <gazebo reference="shoulderjoint">
-    <implicitSpringDamper>true</implicitSpringDamper>
-  </gazebo>
-
-  <gazebo reference="bicepjoint">
-    <implicitSpringDamper>true</implicitSpringDamper>
-  </gazebo>
-
-  <gazebo reference="elbowjoint">
-    <implicitSpringDamper>true</implicitSpringDamper>
-  </gazebo>
-
-  <gazebo reference="forearmjoint">
-    <implicitSpringDamper>true</implicitSpringDamper>
-  </gazebo>
-
-  <gazebo reference="wristjoint">
-    <implicitSpringDamper>true</implicitSpringDamper>
-  </gazebo>
-
-  <gazebo reference="clawjoint">
-    <implicitSpringDamper>true</implicitSpringDamper>
-  </gazebo>
-
-  <gazebo reference="leftgripperjoint">
-    <implicitSpringDamper>true</implicitSpringDamper>
-  </gazebo>
-
-  <gazebo reference="rightgripperjoint">
-    <implicitSpringDamper>true</implicitSpringDamper>
-  </gazebo>
-  
-  <ros2_control name="arm_control" type="system">
-    <hardware>
-      <!-- TODO make a launch param to switch between real/fake hardware. You can only use ONE. -->
-      <!--Use for functionality in Gazebo-->
-      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-      <!--Use for functionality in RViz-->
-      <!-- <plugin>mock_components/GenericSystem</plugin> -->
-      <plugin>ros2_control_demo_hardware/VelocityActuatorHardware</plugin>
-    </hardware>
-
-      <joint name ="shoulderjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      
-      <joint name ="bicepjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-
-      <joint name ="elbowjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-	<joint name ="forearmjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-	<joint name ="wristjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      
-      <joint name ="clawjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      
-      <joint name ="leftgripperjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      
-      <joint name ="rightgripperjoint">
-        <command_interface name="position" />
-        <state_interface name="position">
-          <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-    </ros2_control>
-    
-    <gazebo>
-      <plugin name ="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-        <parameters>file://$(find urc_gazebo)/urdf/config/RoboticArm_params.yaml</parameters>
-      </plugin>
-    </gazebo>
-
-</robot>
diff --git a/urc_gazebo/urdf/walli_inertials.xacro b/urc_gazebo/urdf/walli_inertials.xacro
deleted file mode 100644
index cd5f8171..00000000
--- a/urc_gazebo/urdf/walli_inertials.xacro
+++ /dev/null
@@ -1,75 +0,0 @@
-<!--  xacro macros for intertials.
-    Define xacro macros for math constants and inertials:
-    
-    - solid cuboid
-    - solid cylinder
-    - null (a placeholder inertial for logical link elements)
- -->
-<robot name="walli_inertials" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <!-- Define some commonly used intertial properties  -->
-  <xacro:macro name="box_inertia" params="m w h d">
-    <inertial>
-      <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>      
-      <mass value="${m}"/>
-      <inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
-    </inertial>
-  </xacro:macro>
-
-  <xacro:macro name="cylinder_inertia" params="m r h">
-    <inertial>
-      <origin xyz="0 0 0" rpy="${pi/2} 0 0" />      
-      <mass value="${m}"/>
-      <inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy = "0" ixz = "0" iyy="${(m/12) * (3*r*r + h*h)}" iyz = "0" izz="${(m/2) * (r*r)}"/> 
-    </inertial>
-  </xacro:macro>
-
-  <xacro:macro name="sphere_inertia" params="m r">
-    <inertial>
-      <mass value="${m}"/>
-      <inertia ixx="${(2/5) * m * (r*r)}" ixy="0.0" ixz="0.0" iyy="${(2/5) * m * (r*r)}" iyz="0.0" izz="${(2/5) * m * (r*r)}"/>
-    </inertial>
-  </xacro:macro>
-  
-    <!-- Null inertial element. This is needed to make the model work with
-       Gazebo. -->
-  <xacro:macro name="null_inertial">
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </xacro:macro>
-
-  <!-- Inertia of a solid cuboid. Width is measured along the x axis, depth
-       along the y axis, and height along the z axis. -->
-  <xacro:macro name="solid_cuboid_inertial"
-               params="width depth height mass *origin">
-    <inertial>
-      <xacro:insert_block name="origin"/>
-      <mass value="${mass}"/>
-      <inertia ixx="${mass * (depth * depth + height * height) / 12}"
-               ixy="0" ixz="0"
-               iyy="${mass * (width * width + height * height) / 12}"
-               iyz="0"
-               izz="${mass * (width * width + depth * depth) / 12}"/>
-    </inertial>
-  </xacro:macro>
-
-  <!-- Inertia of a thick-walled cylindrical tube with open ends. Height is
-       measured along the z axis, which is the tube's axis. inner_rad and
-       outer_rad are the tube's inner and outer radii, respectively. -->
-  <xacro:macro name="thick_walled_tube_inertial"
-               params="inner_rad outer_rad height mass">
-    <inertial>
-      <mass value="${mass}"/>
-      <inertia ixx="${(1 / 12) * mass * (3 * (inner_rad * inner_rad +
-                    outer_rad * outer_rad) + height * height)}"
-               ixy="0" ixz="0"
-               iyy="${(1 / 12) * mass * (3 * (inner_rad * inner_rad +
-                    outer_rad * outer_rad) + height * height)}"
-               iyz="0"
-               izz="${mass * (inner_rad * inner_rad +
-                    outer_rad * outer_rad) / 2}"/>
-    </inertial>
-  </xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/walli_prop.xacro b/urc_gazebo/urdf/walli_prop.xacro
deleted file mode 100644
index 0f48bba2..00000000
--- a/urc_gazebo/urdf/walli_prop.xacro
+++ /dev/null
@@ -1,72 +0,0 @@
-<!--  xacro macros for robot materials.
- -->
-<robot name="walli_prop" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="realhardware" value="false"/>
-
-   <!-- Degree-to-radian conversions -->
-  <xacro:property name="degrees_45" value="0.785398163"/>
-  <xacro:property name="degrees_90" value="1.57079633"/>
-
-
-  <!-- New Properties from NAV2-->
-  <xacro:property name="base_length"    value="0.300"/>
-  <xacro:property name="base_width"     value="0.250"/>
-  <xacro:property name="base_height"    value="0.050"/>
-  <xacro:property name="base_mass"      value="3.000"/>
-  <xacro:property name="base_clearance" value="0.200"/>
-  <xacro:property name="wheel_radius" value="0.05"/>
-  <xacro:property name="wheel_width" value="0.075"/>
-  <xacro:property name="wheel_ygap" value="0.025"/>
-  <xacro:property name="wheel_zoff" value="0.05"/>
-  <xacro:property name="wheel_xoff" value="0.12"/>
-
-  <!-- body_length is measured along the x axis, body_width
-       along the y axis, and body_height along the z axis. -->
-
-  <xacro:property name="wheelbase_rocker" value="0.350"/>
-  <xacro:property name="wheelbase_bogie"  value="0.200"/>
-  <xacro:property name="x_center_rocker"  value="0.000"/>
-  <xacro:property name="x_center_bogie"   value="0.150"/>
-  <xacro:property name="track"            value="0.400"/>
-
-  <!-- hub_dia and tire_dia are the diameters of the hub and tire,
-       respectively. hex_hub_depth is the distance that the hex hub is
-       inset from the outer edge of the tire. It is set so that each wheel
-       is a "zero offset" wheel. hex_hub_depth = tire_width / 2 -
-       axle_length. -->
-  <xacro:property name="hub_dia"       value="0.100"/>
-  <xacro:property name="tire_dia"      value="0.115"/>
-  <xacro:property name="tire_width"    value="0.075"/>
-  <xacro:property name="wheel_mass"    value="0.200"/>
-
-  <!-- The specifications for a Titan(R) 550 motor could not be found, so the
-       stall torque of a Mabuchi Motor(R) RS-550VC-7525 motor was used instead.
-       num_spur_gear_teeth = 68
-       num_pinion_gear_teeth = 19
-       final_gear_ratio = (num_spur_gear_teeth / num_pinion_gear_teeth) *
-         5.22 = 18.68
-       stall_torque = 0.549 N m
-       axle_eff_limit = ((2 * stall_torque) * final_gear_ratio) / 4 =
-         5.12766 N m
-       max_speed = 40 mph (30+ mph) = 17.8816 m/s
-       axle_vel_limit = (2 * pi) * (max_speed / (pi * tire_dia)) =
-         244.8696 rad/s -->
-  <xacro:property name="axle_eff_limit" value="5.12766"/>
-  <xacro:property name="axle_vel_limit" value="244.8696"/>
-  
-  <material name="body_mat">
-    <color rgba="0.5 0.5 0.5 1"/>
-  </material>
-  <material name="tire_mat">
-    <color rgba="0 0 0 1"/>
-  </material>
-  
-   <!-- Lidar -->
-    <xacro:property name="lidar_pitch" value="0.0"/>
-    <xacro:property name="lidar_x" value="0.12"/>
-    <xacro:property name="lidar_z" value="0.12"/>
-    <xacro:property name="lidar_hz" value="10"/>
-    <xacro:property name="lidar_samples" value="500"/>
-
-</robot>
\ No newline at end of file