diff --git a/CMakeLists.txt b/CMakeLists.txt
index c57cacb..dffd07e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,12 +7,14 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(gazebo_ros REQUIRED)
+find_package(ros_gz_sim REQUIRED)
 
 install(DIRECTORY launch maps models routes param worlds
   DESTINATION share/${PROJECT_NAME}
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/aws_robomaker_bookstore_world.dsv.in")
+
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(gazebo_ros)
 
diff --git a/env-hooks/aws_robomaker_bookstore_world.dsv.in b/env-hooks/aws_robomaker_bookstore_world.dsv.in
new file mode 100644
index 0000000..ae425dd
--- /dev/null
+++ b/env-hooks/aws_robomaker_bookstore_world.dsv.in
@@ -0,0 +1,4 @@
+prepend-non-duplicate;GZ_SIM_MODEL_PATH;share/aws_robomaker_bookstore_world/models
+prepend-non-duplicate;GZ_SIM_MODEL_PATH;share/aws_robomaker_bookstore_world/worlds
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/aws_robomaker_bookstore_world/models
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/aws_robomaker_bookstore_world/worlds
\ No newline at end of file
diff --git a/launch/bookstore.launch.py b/launch/bookstore.launch.py
index fd0f908..258d4d7 100644
--- a/launch/bookstore.launch.py
+++ b/launch/bookstore.launch.py
@@ -1,39 +1,30 @@
 import os
-import sys
 
 import launch
-from launch.conditions import IfCondition
-from launch.substitutions import PythonExpression
 from ament_index_python.packages import get_package_share_directory
+from launch.actions import ExecuteProcess, SetEnvironmentVariable
 
 
 def generate_launch_description():
     world_file_name = "bookstore.world"
-    world = os.path.join(get_package_share_directory('aws_robomaker_bookstore_world'), 'worlds', world_file_name)
+    package_dir = get_package_share_directory('aws_robomaker_bookstore_world')
+    world = os.path.join(package_dir, 'worlds', world_file_name)
 
-    gazebo_ros = get_package_share_directory('gazebo_ros')
-    gazebo_client = launch.actions.IncludeLaunchDescription(
-	launch.launch_description_sources.PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
-        condition=launch.conditions.IfCondition(launch.substitutions.LaunchConfiguration('gui'))
-     )
-    gazebo_server = launch.actions.IncludeLaunchDescription(
-        launch.launch_description_sources.PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
-    )
+    model_path = os.path.join(package_dir, 'models')
 
+    gazebo_server_cmd_line = [
+        'gz', 'sim', '-r', '-v4', world]
+
+    gazebo = ExecuteProcess(
+        cmd=gazebo_server_cmd_line, output='screen')
 
     ld = launch.LaunchDescription([
+        SetEnvironmentVariable('GZ_SIM_RESOURCE_PATH', model_path),
         launch.actions.DeclareLaunchArgument(
           'world',
           default_value=[world, ''],
           description='SDF world file'),
-        launch.actions.DeclareLaunchArgument(
-            name='gui',
-            default_value='false'
-        ),
-        gazebo_server,
-        gazebo_client
+        gazebo,
     ])
     return ld
 
diff --git a/models/aws_robomaker_retail_AirConditionerC_01/model.sdf b/models/aws_robomaker_retail_AirConditionerC_01/model.sdf
index 4050573..ae13ba5 100644
--- a/models/aws_robomaker_retail_AirConditionerC_01/model.sdf
+++ b/models/aws_robomaker_retail_AirConditionerC_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_AirConditionerC_01/meshes/aws_AirConditionerC_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_AirConditionerC_01/meshes/aws_AirConditionerC_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_AirConditionerC_01/meshes/aws_AirConditionerC_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_AirConditionerC_01/meshes/aws_AirConditionerC_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_Bicycle_01/model.sdf b/models/aws_robomaker_retail_Bicycle_01/model.sdf
index 06d5f17..832ed30 100644
--- a/models/aws_robomaker_retail_Bicycle_01/model.sdf
+++ b/models/aws_robomaker_retail_Bicycle_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Bicycle_01/meshes/aws_Bicycle_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_Bicycle_01/meshes/aws_Bicycle_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Bicycle_01/meshes/aws_Bicycle_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_Bicycle_01/meshes/aws_Bicycle_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookA_01/model.sdf b/models/aws_robomaker_retail_BookA_01/model.sdf
index 866c9dc..dc035e3 100644
--- a/models/aws_robomaker_retail_BookA_01/model.sdf
+++ b/models/aws_robomaker_retail_BookA_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookA_01/meshes/aws_BookA_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookA_01/meshes/aws_BookA_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookA_01/meshes/aws_BookA_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookA_01/meshes/aws_BookA_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookB_01/model.sdf b/models/aws_robomaker_retail_BookB_01/model.sdf
index 38b71a6..27130bc 100644
--- a/models/aws_robomaker_retail_BookB_01/model.sdf
+++ b/models/aws_robomaker_retail_BookB_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookB_01/meshes/aws_BookB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookB_01/meshes/aws_BookB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookB_01/meshes/aws_BookB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookB_01/meshes/aws_BookB_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookC_01/model.sdf b/models/aws_robomaker_retail_BookC_01/model.sdf
index 4b22d8f..131d327 100644
--- a/models/aws_robomaker_retail_BookC_01/model.sdf
+++ b/models/aws_robomaker_retail_BookC_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookC_01/meshes/aws_BookC_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookC_01/meshes/aws_BookC_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookC_01/meshes/aws_BookC_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookC_01/meshes/aws_BookC_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookD_01/model.sdf b/models/aws_robomaker_retail_BookD_01/model.sdf
index a2f4da1..38dbccd 100644
--- a/models/aws_robomaker_retail_BookD_01/model.sdf
+++ b/models/aws_robomaker_retail_BookD_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookD_01/meshes/aws_BookD_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookD_01/meshes/aws_BookD_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookD_01/meshes/aws_BookD_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookD_01/meshes/aws_BookD_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookE_01/model.sdf b/models/aws_robomaker_retail_BookE_01/model.sdf
index e93640a..ba007fe 100644
--- a/models/aws_robomaker_retail_BookE_01/model.sdf
+++ b/models/aws_robomaker_retail_BookE_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookE_01/meshes/aws_BookE_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookE_01/meshes/aws_BookE_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookE_01/meshes/aws_BookE_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookE_01/meshes/aws_BookE_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookF_01/model.sdf b/models/aws_robomaker_retail_BookF_01/model.sdf
index 86990d6..b788daf 100644
--- a/models/aws_robomaker_retail_BookF_01/model.sdf
+++ b/models/aws_robomaker_retail_BookF_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookF_01/meshes/aws_BookF_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookF_01/meshes/aws_BookF_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookF_01/meshes/aws_BookF_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookF_01/meshes/aws_BookF_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookshelfA_01/model.sdf b/models/aws_robomaker_retail_BookshelfA_01/model.sdf
index fdea258..5a6a250 100644
--- a/models/aws_robomaker_retail_BookshelfA_01/model.sdf
+++ b/models/aws_robomaker_retail_BookshelfA_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookshelfA_01/meshes/aws_BookshelfA_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookshelfA_01/meshes/aws_BookshelfA_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookshelfA_01/meshes/aws_BookshelfA_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookshelfA_01/meshes/aws_BookshelfA_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookshelfB_01/model.sdf b/models/aws_robomaker_retail_BookshelfB_01/model.sdf
index d36f2d5..cec8d74 100644
--- a/models/aws_robomaker_retail_BookshelfB_01/model.sdf
+++ b/models/aws_robomaker_retail_BookshelfB_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookshelfB_01/meshes/aws_BookshelfB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookshelfB_01/meshes/aws_BookshelfB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookshelfB_01/meshes/aws_BookshelfB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookshelfB_01/meshes/aws_BookshelfB_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookshelfC_01/model.sdf b/models/aws_robomaker_retail_BookshelfC_01/model.sdf
index e8ce1aa..a93c08f 100644
--- a/models/aws_robomaker_retail_BookshelfC_01/model.sdf
+++ b/models/aws_robomaker_retail_BookshelfC_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookshelfC_01/meshes/aws_BookshelfC_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookshelfC_01/meshes/aws_BookshelfC_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookshelfC_01/meshes/aws_BookshelfC_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookshelfC_01/meshes/aws_BookshelfC_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_BookstoreLogo_01/model.sdf b/models/aws_robomaker_retail_BookstoreLogo_01/model.sdf
index 540e6de..5c9d28b 100644
--- a/models/aws_robomaker_retail_BookstoreLogo_01/model.sdf
+++ b/models/aws_robomaker_retail_BookstoreLogo_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookstoreLogo_01/meshes/aws_BookstoreLogo_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookstoreLogo_01/meshes/aws_BookstoreLogo_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_BookstoreLogo_01/meshes/aws_BookstoreLogo_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_BookstoreLogo_01/meshes/aws_BookstoreLogo_01_visual.DAE</uri>
           </mesh>
         </geometry>
 		<meta>
diff --git a/models/aws_robomaker_retail_ChairB_01/model.sdf b/models/aws_robomaker_retail_ChairB_01/model.sdf
index 00b6bfe..67f9657 100644
--- a/models/aws_robomaker_retail_ChairB_01/model.sdf
+++ b/models/aws_robomaker_retail_ChairB_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_ChairB_01/meshes/aws_ChairB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_ChairB_01/meshes/aws_ChairB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_ChairB_01/meshes/aws_ChairB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_ChairB_01/meshes/aws_ChairB_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_ColumnA_01/model.sdf b/models/aws_robomaker_retail_ColumnA_01/model.sdf
index a658aa3..529b936 100644
--- a/models/aws_robomaker_retail_ColumnA_01/model.sdf
+++ b/models/aws_robomaker_retail_ColumnA_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_ColumnA_01/meshes/aws_ColumnA_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_ColumnA_01/meshes/aws_ColumnA_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_ColumnA_01/meshes/aws_ColumnA_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_ColumnA_01/meshes/aws_ColumnA_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_ColumnB_01/model.sdf b/models/aws_robomaker_retail_ColumnB_01/model.sdf
index 933d5c1..03469a1 100644
--- a/models/aws_robomaker_retail_ColumnB_01/model.sdf
+++ b/models/aws_robomaker_retail_ColumnB_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_ColumnB_01/meshes/aws_ColumnB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_ColumnB_01/meshes/aws_ColumnB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_ColumnB_01/meshes/aws_ColumnB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_ColumnB_01/meshes/aws_ColumnB_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_Computer_01/model.sdf b/models/aws_robomaker_retail_Computer_01/model.sdf
index 1e9ce98..b7f6cfd 100644
--- a/models/aws_robomaker_retail_Computer_01/model.sdf
+++ b/models/aws_robomaker_retail_Computer_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Computer_01/meshes/aws_Computer_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_Computer_01/meshes/aws_Computer_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Computer_01/meshes/aws_Computer_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_Computer_01/meshes/aws_Computer_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_DeskA_01/model.sdf b/models/aws_robomaker_retail_DeskA_01/model.sdf
index 98c2588..e7f7b33 100644
--- a/models/aws_robomaker_retail_DeskA_01/model.sdf
+++ b/models/aws_robomaker_retail_DeskA_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_DeskA_01/meshes/aws_DeskA_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_DeskA_01/meshes/aws_DeskA_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_DeskA_01/meshes/aws_DeskA_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_DeskA_01/meshes/aws_DeskA_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_DeskB_01/model.sdf b/models/aws_robomaker_retail_DeskB_01/model.sdf
index 7a18de4..85b3643 100644
--- a/models/aws_robomaker_retail_DeskB_01/model.sdf
+++ b/models/aws_robomaker_retail_DeskB_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_DeskB_01/meshes/aws_DeskB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_DeskB_01/meshes/aws_DeskB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_DeskB_01/meshes/aws_DeskB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_DeskB_01/meshes/aws_DeskB_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_DoorB_01/model.sdf b/models/aws_robomaker_retail_DoorB_01/model.sdf
index 328a951..48be0d6 100644
--- a/models/aws_robomaker_retail_DoorB_01/model.sdf
+++ b/models/aws_robomaker_retail_DoorB_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_DoorB_01/meshes/aws_DoorB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_DoorB_01/meshes/aws_DoorB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_DoorB_01/meshes/aws_DoorB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_DoorB_01/meshes/aws_DoorB_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_Holder_01/model.sdf b/models/aws_robomaker_retail_Holder_01/model.sdf
index 29c6246..60ef312 100644
--- a/models/aws_robomaker_retail_Holder_01/model.sdf
+++ b/models/aws_robomaker_retail_Holder_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Holder_01/meshes/aws_Holder_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_Holder_01/meshes/aws_Holder_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Holder_01/meshes/aws_Holder_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_Holder_01/meshes/aws_Holder_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_Horologe_01/model.sdf b/models/aws_robomaker_retail_Horologe_01/model.sdf
index 33c4610..54be88b 100644
--- a/models/aws_robomaker_retail_Horologe_01/model.sdf
+++ b/models/aws_robomaker_retail_Horologe_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Horologe_01/meshes/aws_Horologe_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_Horologe_01/meshes/aws_Horologe_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Horologe_01/meshes/aws_Horologe_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_Horologe_01/meshes/aws_Horologe_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_InfoDesk_01/model.sdf b/models/aws_robomaker_retail_InfoDesk_01/model.sdf
index 7f79c72..e5286b9 100644
--- a/models/aws_robomaker_retail_InfoDesk_01/model.sdf
+++ b/models/aws_robomaker_retail_InfoDesk_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_InfoDesk_01/meshes/aws_InfoDesk_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_InfoDesk_01/meshes/aws_InfoDesk_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_InfoDesk_01/meshes/aws_InfoDesk_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_InfoDesk_01/meshes/aws_InfoDesk_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_LightA_01/model.sdf b/models/aws_robomaker_retail_LightA_01/model.sdf
index f1e51e0..d2b983a 100644
--- a/models/aws_robomaker_retail_LightA_01/model.sdf
+++ b/models/aws_robomaker_retail_LightA_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_LightA_01/meshes/aws_LightA_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_LightA_01/meshes/aws_LightA_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_LightA_01/meshes/aws_LightA_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_LightA_01/meshes/aws_LightA_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_MagicCube_01/model.sdf b/models/aws_robomaker_retail_MagicCube_01/model.sdf
index 029f1ed..3633bc5 100644
--- a/models/aws_robomaker_retail_MagicCube_01/model.sdf
+++ b/models/aws_robomaker_retail_MagicCube_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_MagicCube_01/meshes/aws_MagicCube_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_MagicCube_01/meshes/aws_MagicCube_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_MagicCube_01/meshes/aws_MagicCube_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_MagicCube_01/meshes/aws_MagicCube_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_RetailShopCeiling_01/model.sdf b/models/aws_robomaker_retail_RetailShopCeiling_01/model.sdf
index 003f6f4..6be8590 100644
--- a/models/aws_robomaker_retail_RetailShopCeiling_01/model.sdf
+++ b/models/aws_robomaker_retail_RetailShopCeiling_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_RetailShopCeiling_01/meshes/aws_RetailShopCeiling_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_RetailShopCeiling_01/meshes/aws_RetailShopCeiling_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_RetailShopCeiling_01/meshes/aws_RetailShopCeiling_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_RetailShopCeiling_01/meshes/aws_RetailShopCeiling_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_RetailShopFloor_01/model.sdf b/models/aws_robomaker_retail_RetailShopFloor_01/model.sdf
index 037f6d4..216f566 100644
--- a/models/aws_robomaker_retail_RetailShopFloor_01/model.sdf
+++ b/models/aws_robomaker_retail_RetailShopFloor_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_RetailShopFloor_01/meshes/aws_RetailShopFloor_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_RetailShopFloor_01/meshes/aws_RetailShopFloor_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_RetailShopFloor_01/meshes/aws_RetailShopFloor_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_RetailShopFloor_01/meshes/aws_RetailShopFloor_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_RetailShopWall_01/model.sdf b/models/aws_robomaker_retail_RetailShopWall_01/model.sdf
index 8b7bd67..fd4f6ad 100644
--- a/models/aws_robomaker_retail_RetailShopWall_01/model.sdf
+++ b/models/aws_robomaker_retail_RetailShopWall_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_RetailShopWall_01/meshes/aws_RetailShopWall_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_RetailShopWall_01/meshes/aws_RetailShopWall_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_RetailShopWall_01/meshes/aws_RetailShopWall_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_RetailShopWall_01/meshes/aws_RetailShopWall_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_SecurityCamera_01/model.sdf b/models/aws_robomaker_retail_SecurityCamera_01/model.sdf
index 404457d..8d4a968 100644
--- a/models/aws_robomaker_retail_SecurityCamera_01/model.sdf
+++ b/models/aws_robomaker_retail_SecurityCamera_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_SecurityCamera_01/meshes/aws_SecurityCamera_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_SecurityCamera_01/meshes/aws_SecurityCamera_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_SecurityCamera_01/meshes/aws_SecurityCamera_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_SecurityCamera_01/meshes/aws_SecurityCamera_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_ShopWindow_01/model.sdf b/models/aws_robomaker_retail_ShopWindow_01/model.sdf
index 83a3ebc..64e1bca 100644
--- a/models/aws_robomaker_retail_ShopWindow_01/model.sdf
+++ b/models/aws_robomaker_retail_ShopWindow_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_ShopWindow_01/meshes/aws_ShopWindow_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_ShopWindow_01/meshes/aws_ShopWindow_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_ShopWindow_01/meshes/aws_ShopWindow_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_ShopWindow_01/meshes/aws_ShopWindow_01_visual.DAE</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/models/aws_robomaker_retail_SmartSpeakerSmall_01/model.sdf b/models/aws_robomaker_retail_SmartSpeakerSmall_01/model.sdf
index 527b194..1c235b1 100644
--- a/models/aws_robomaker_retail_SmartSpeakerSmall_01/model.sdf
+++ b/models/aws_robomaker_retail_SmartSpeakerSmall_01/model.sdf
@@ -17,7 +17,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_SmartSpeakerSmall_01/meshes/aws_SmartSpeakerSmall_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_SmartSpeakerSmall_01/meshes/aws_SmartSpeakerSmall_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -37,7 +37,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_SmartSpeakerSmall_01/meshes/aws_SmartSpeakerSmall_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_SmartSpeakerSmall_01/meshes/aws_SmartSpeakerSmall_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_SmartSpeakerTall_01/model.sdf b/models/aws_robomaker_retail_SmartSpeakerTall_01/model.sdf
index cbbb8e3..4b9b7b1 100644
--- a/models/aws_robomaker_retail_SmartSpeakerTall_01/model.sdf
+++ b/models/aws_robomaker_retail_SmartSpeakerTall_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_SmartSpeakerTall_01/meshes/aws_SmartSpeakerTall_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_SmartSpeakerTall_01/meshes/aws_SmartSpeakerTall_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_SmartSpeakerTall_01/meshes/aws_SmartSpeakerTall_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_SmartSpeakerTall_01/meshes/aws_SmartSpeakerTall_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_Spotlight_01/model.sdf b/models/aws_robomaker_retail_Spotlight_01/model.sdf
index 9fcc95e..94d7a96 100644
--- a/models/aws_robomaker_retail_Spotlight_01/model.sdf
+++ b/models/aws_robomaker_retail_Spotlight_01/model.sdf
@@ -8,7 +8,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Spotlight_01/meshes/aws_Spotlight_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_Spotlight_01/meshes/aws_Spotlight_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -16,7 +16,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Spotlight_01/meshes/aws_Spotlight_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_Spotlight_01/meshes/aws_Spotlight_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_TabletB_01/model.sdf b/models/aws_robomaker_retail_TabletB_01/model.sdf
index 1410be9..0466146 100644
--- a/models/aws_robomaker_retail_TabletB_01/model.sdf
+++ b/models/aws_robomaker_retail_TabletB_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_TabletB_01/meshes/aws_TabletB_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_TabletB_01/meshes/aws_TabletB_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_TabletB_01/meshes/aws_TabletB_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_TabletB_01/meshes/aws_TabletB_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/models/aws_robomaker_retail_Tablet_01/model.sdf b/models/aws_robomaker_retail_Tablet_01/model.sdf
index c7f1fd3..9b49c54 100644
--- a/models/aws_robomaker_retail_Tablet_01/model.sdf
+++ b/models/aws_robomaker_retail_Tablet_01/model.sdf
@@ -16,7 +16,7 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Tablet_01/meshes/aws_Tablet_01_collision.DAE</uri>
+            <uri>model://aws_robomaker_retail_Tablet_01/meshes/aws_Tablet_01_collision.DAE</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -24,7 +24,7 @@
       <visual name="visual">
 	    <geometry>
           <mesh>
-            <uri>file://models/aws_robomaker_retail_Tablet_01/meshes/aws_Tablet_01_visual.DAE</uri>
+            <uri>model://aws_robomaker_retail_Tablet_01/meshes/aws_Tablet_01_visual.DAE</uri>
           </mesh>
         </geometry>
         <meta>
diff --git a/package.xml b/package.xml
index 81e4fb6..ad9301a 100644
--- a/package.xml
+++ b/package.xml
@@ -9,12 +9,8 @@
   <maintainer email="ros-contributions@amazon.com">AWS RoboMaker</maintainer>
   <license>Apache 2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>gazebo_ros</depend>
-  <depend>gazebo_plugins</depend>
-  <depend>gazebo_ros_pkgs</depend>
-  <exec_depend>gazebo</exec_depend>
+  <depend>ros_gz_sim</depend>
   <export>
     <build_type>ament_cmake</build_type>
-    <gazebo_ros gazebo_media_path="${prefix}" gazebo_model_path="${prefix}/models" plugin_path="${prefix}/lib" />
   </export>
 </package>
diff --git a/worlds/bookstore.world b/worlds/bookstore.world
index a3c0150..6aa874a 100644
--- a/worlds/bookstore.world
+++ b/worlds/bookstore.world
@@ -11,8 +11,8 @@
     <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
     <atmosphere type="adiabatic" />
     <physics default="0" name="default_physics" type="ode">
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
+      <max_step_size>0.005</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
       <real_time_update_rate>1000</real_time_update_rate>
     </physics>
     <scene>
@@ -30,6 +30,28 @@
       <heading_deg>0</heading_deg>
     </spherical_coordinates>
 
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+
 
 	<model name="AirConditionerC_01_001">
         <include>
@@ -1026,12 +1048,12 @@
 
 
 
-	<model name="Spotlight_01_001">
+	<!-- <model name="Spotlight_01_001">
         <include>
             <uri>model://aws_robomaker_retail_Spotlight_01</uri>
         </include>
         <pose frame="">1.493200 4.692372 3.302658 0 -0 0</pose>
-	</model>
+	</model> -->
 
 	<model name="ShopWindow_01_001">
         <include>