diff --git a/tuw_gazebo_models/launch/spawn_robot_v1.launch.py b/tuw_gazebo_models/launch/spawn_robot_v1.launch.py
new file mode 100644
index 0000000..5c08ca4
--- /dev/null
+++ b/tuw_gazebo_models/launch/spawn_robot_v1.launch.py
@@ -0,0 +1,85 @@
+#!/usr/bin/python3
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from launch_ros.actions import Node
+from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+import xml.dom.minidom
+from launch.conditions import IfCondition
+
+import xacro
+
+def generate_launch_description():
+
+    use_sim_time     = LaunchConfiguration('use_sim_time',  default='true')
+    namespace_arg    = DeclareLaunchArgument('namespace',   default_value=TextSubstitution(text=''))
+    model_name_arg   = DeclareLaunchArgument('model_name',  default_value=TextSubstitution(text='robot0'))
+    robot_arg        = DeclareLaunchArgument('robot',       default_value=TextSubstitution(text='pioneer3dx'))
+    X_launch_arg     = DeclareLaunchArgument('X',           default_value=TextSubstitution(text='0.0'))
+    Y_launch_arg     = DeclareLaunchArgument('Y',           default_value=TextSubstitution(text='0.0'))
+    Theta_launch_arg = DeclareLaunchArgument('Theta',       default_value=TextSubstitution(text='0.0'))
+
+    models_dir = get_package_share_directory('tuw_gazebo_models') + '/models'
+
+
+
+    def create_robot_description(context): 
+        xacro_file = os.path.join(get_package_share_directory('tuw_gazebo_models'), 'models', context.launch_configurations['robot'], 'main.xacro')
+        assert os.path.exists(xacro_file), "The main.xacro doesnt exist in "+str(xacro_file)
+        robot_description_config = xacro.process_file(xacro_file, 
+            mappings={  "namespace": context.launch_configurations['namespace'], 
+            		"plugins_version": "v1",
+                        "models_dir": models_dir})
+        robot_desc = robot_description_config.toxml()
+        dom = xml.dom.minidom.parseString(robot_desc)
+        f = open("/tmp/robot_description.xml", "w")   ## for debugging only
+        f.write(dom.toprettyxml())
+        f.close()
+        return [SetLaunchConfiguration('robot_desc', robot_desc)]
+
+    def create_prefix(context):
+    	namespace = context.launch_configurations['namespace']
+    	prefix = namespace + '/' if namespace != '' else ''
+    	return [SetLaunchConfiguration('prefix', prefix)]
+    
+    create_robot_description_arg = OpaqueFunction(function=create_robot_description)
+    create_prefix_action = OpaqueFunction(function=create_prefix)
+
+    return LaunchDescription([
+        namespace_arg,
+        robot_arg,
+        X_launch_arg,
+        Y_launch_arg,
+        Theta_launch_arg,
+        create_robot_description_arg,
+        create_prefix_action,
+        model_name_arg,
+        Node(
+            condition=IfCondition(use_sim_time),
+            package='tuw_gazebo_models', 
+            name="publisher_robot", 
+            executable='spawn_robot.py', 
+            arguments=[LaunchConfiguration('robot_desc')],
+            parameters=[{
+                "X": LaunchConfiguration('X'),
+                "Y": LaunchConfiguration('Y'),
+                "Theta": LaunchConfiguration('Theta'),
+                "model_name": LaunchConfiguration('model_name'),
+                "namespace": LaunchConfiguration('namespace')}],
+            output='screen'),
+        Node(
+            package="robot_state_publisher",
+            executable="robot_state_publisher",
+            name="robot_state_publisher",
+            arguments=[LaunchConfiguration('robot_desc')],
+            namespace=[LaunchConfiguration('namespace')],
+
+            parameters=[{
+            	"frame_prefix": LaunchConfiguration('prefix'),
+                "use_sim_time": use_sim_time,
+                "robot_description": LaunchConfiguration('robot_desc')}],
+            output="screen"),
+    ])
diff --git a/tuw_gazebo_models/launch/spawn_robot_v2.launch.py b/tuw_gazebo_models/launch/spawn_robot_v2.launch.py
new file mode 100644
index 0000000..5c08ca4
--- /dev/null
+++ b/tuw_gazebo_models/launch/spawn_robot_v2.launch.py
@@ -0,0 +1,85 @@
+#!/usr/bin/python3
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from launch_ros.actions import Node
+from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+import xml.dom.minidom
+from launch.conditions import IfCondition
+
+import xacro
+
+def generate_launch_description():
+
+    use_sim_time     = LaunchConfiguration('use_sim_time',  default='true')
+    namespace_arg    = DeclareLaunchArgument('namespace',   default_value=TextSubstitution(text=''))
+    model_name_arg   = DeclareLaunchArgument('model_name',  default_value=TextSubstitution(text='robot0'))
+    robot_arg        = DeclareLaunchArgument('robot',       default_value=TextSubstitution(text='pioneer3dx'))
+    X_launch_arg     = DeclareLaunchArgument('X',           default_value=TextSubstitution(text='0.0'))
+    Y_launch_arg     = DeclareLaunchArgument('Y',           default_value=TextSubstitution(text='0.0'))
+    Theta_launch_arg = DeclareLaunchArgument('Theta',       default_value=TextSubstitution(text='0.0'))
+
+    models_dir = get_package_share_directory('tuw_gazebo_models') + '/models'
+
+
+
+    def create_robot_description(context): 
+        xacro_file = os.path.join(get_package_share_directory('tuw_gazebo_models'), 'models', context.launch_configurations['robot'], 'main.xacro')
+        assert os.path.exists(xacro_file), "The main.xacro doesnt exist in "+str(xacro_file)
+        robot_description_config = xacro.process_file(xacro_file, 
+            mappings={  "namespace": context.launch_configurations['namespace'], 
+            		"plugins_version": "v1",
+                        "models_dir": models_dir})
+        robot_desc = robot_description_config.toxml()
+        dom = xml.dom.minidom.parseString(robot_desc)
+        f = open("/tmp/robot_description.xml", "w")   ## for debugging only
+        f.write(dom.toprettyxml())
+        f.close()
+        return [SetLaunchConfiguration('robot_desc', robot_desc)]
+
+    def create_prefix(context):
+    	namespace = context.launch_configurations['namespace']
+    	prefix = namespace + '/' if namespace != '' else ''
+    	return [SetLaunchConfiguration('prefix', prefix)]
+    
+    create_robot_description_arg = OpaqueFunction(function=create_robot_description)
+    create_prefix_action = OpaqueFunction(function=create_prefix)
+
+    return LaunchDescription([
+        namespace_arg,
+        robot_arg,
+        X_launch_arg,
+        Y_launch_arg,
+        Theta_launch_arg,
+        create_robot_description_arg,
+        create_prefix_action,
+        model_name_arg,
+        Node(
+            condition=IfCondition(use_sim_time),
+            package='tuw_gazebo_models', 
+            name="publisher_robot", 
+            executable='spawn_robot.py', 
+            arguments=[LaunchConfiguration('robot_desc')],
+            parameters=[{
+                "X": LaunchConfiguration('X'),
+                "Y": LaunchConfiguration('Y'),
+                "Theta": LaunchConfiguration('Theta'),
+                "model_name": LaunchConfiguration('model_name'),
+                "namespace": LaunchConfiguration('namespace')}],
+            output='screen'),
+        Node(
+            package="robot_state_publisher",
+            executable="robot_state_publisher",
+            name="robot_state_publisher",
+            arguments=[LaunchConfiguration('robot_desc')],
+            namespace=[LaunchConfiguration('namespace')],
+
+            parameters=[{
+            	"frame_prefix": LaunchConfiguration('prefix'),
+                "use_sim_time": use_sim_time,
+                "robot_description": LaunchConfiguration('robot_desc')}],
+            output="screen"),
+    ])
diff --git a/tuw_gazebo_models/launch/spawn_robot.launch.py b/tuw_gazebo_models/launch/spawn_robot_v3.launch.py
similarity index 94%
rename from tuw_gazebo_models/launch/spawn_robot.launch.py
rename to tuw_gazebo_models/launch/spawn_robot_v3.launch.py
index 3381a12..2bf89de 100644
--- a/tuw_gazebo_models/launch/spawn_robot.launch.py
+++ b/tuw_gazebo_models/launch/spawn_robot_v3.launch.py
@@ -31,6 +31,7 @@ def create_robot_description(context):
         assert os.path.exists(xacro_file), "The main.xacro doesnt exist in "+str(xacro_file)
         robot_description_config = xacro.process_file(xacro_file, 
             mappings={  "namespace": context.launch_configurations['namespace'], 
+            		"version": "v2",
                         "models_dir": models_dir})
         robot_desc = robot_description_config.toxml()
         dom = xml.dom.minidom.parseString(robot_desc)
@@ -68,11 +69,9 @@ def create_robot_description(context):
             name="robot_state_publisher",
             arguments=[LaunchConfiguration('robot_desc')],
             namespace=[LaunchConfiguration('namespace')],
-            # this works but I will not use it at the moment
-            # remappings=[
-            #    ("/tf", "/r0/tf"),
-            #    ("/tf_static", "/r0/tf_static")
-            #],
+
+            remappings=[('/tf', 'tf'),
+                    ('/tf_static', 'tf_static')],
             parameters=[{
                 "use_sim_time": use_sim_time,
                 "robot_description": LaunchConfiguration('robot_desc')}],
diff --git a/tuw_gazebo_models/launch/robot_description.launch.py b/tuw_gazebo_models/launch/spawn_robot_v4.launch.py
similarity index 69%
rename from tuw_gazebo_models/launch/robot_description.launch.py
rename to tuw_gazebo_models/launch/spawn_robot_v4.launch.py
index 84be764..2bf89de 100644
--- a/tuw_gazebo_models/launch/robot_description.launch.py
+++ b/tuw_gazebo_models/launch/spawn_robot_v4.launch.py
@@ -18,14 +18,20 @@ def generate_launch_description():
     namespace_arg    = DeclareLaunchArgument('namespace',   default_value=TextSubstitution(text=''))
     model_name_arg   = DeclareLaunchArgument('model_name',  default_value=TextSubstitution(text='robot0'))
     robot_arg        = DeclareLaunchArgument('robot',       default_value=TextSubstitution(text='pioneer3dx'))
+    X_launch_arg     = DeclareLaunchArgument('X',           default_value=TextSubstitution(text='0.0'))
+    Y_launch_arg     = DeclareLaunchArgument('Y',           default_value=TextSubstitution(text='0.0'))
+    Theta_launch_arg = DeclareLaunchArgument('Theta',       default_value=TextSubstitution(text='0.0'))
 
     models_dir = get_package_share_directory('tuw_gazebo_models') + '/models'
 
+
+
     def create_robot_description(context): 
         xacro_file = os.path.join(get_package_share_directory('tuw_gazebo_models'), 'models', context.launch_configurations['robot'], 'main.xacro')
         assert os.path.exists(xacro_file), "The main.xacro doesnt exist in "+str(xacro_file)
         robot_description_config = xacro.process_file(xacro_file, 
             mappings={  "namespace": context.launch_configurations['namespace'], 
+            		"version": "v2",
                         "models_dir": models_dir})
         robot_desc = robot_description_config.toxml()
         dom = xml.dom.minidom.parseString(robot_desc)
@@ -39,19 +45,33 @@ def create_robot_description(context):
     return LaunchDescription([
         namespace_arg,
         robot_arg,
+        X_launch_arg,
+        Y_launch_arg,
+        Theta_launch_arg,
         create_robot_description_arg,
         model_name_arg,
+        Node(
+            condition=IfCondition(use_sim_time),
+            package='tuw_gazebo_models', 
+            name="publisher_robot", 
+            executable='spawn_robot.py', 
+            arguments=[LaunchConfiguration('robot_desc')],
+            parameters=[{
+                "X": LaunchConfiguration('X'),
+                "Y": LaunchConfiguration('Y'),
+                "Theta": LaunchConfiguration('Theta'),
+                "model_name": LaunchConfiguration('model_name'),
+                "namespace": LaunchConfiguration('namespace')}],
+            output='screen'),
         Node(
             package="robot_state_publisher",
             executable="robot_state_publisher",
             name="robot_state_publisher",
             arguments=[LaunchConfiguration('robot_desc')],
             namespace=[LaunchConfiguration('namespace')],
-            # this works but I will not use it at the moment
-            # remappings=[
-            #    ("/tf", "/r0/tf"),
-            #    ("/tf_static", "/r0/tf_static")
-            #],
+
+            remappings=[('/tf', 'tf'),
+                    ('/tf_static', 'tf_static')],
             parameters=[{
                 "use_sim_time": use_sim_time,
                 "robot_description": LaunchConfiguration('robot_desc')}],
diff --git a/tuw_gazebo_models/models/hokuyo/main_v1.xacro b/tuw_gazebo_models/models/hokuyo/main_v1.xacro
new file mode 100644
index 0000000..0e9afb4
--- /dev/null
+++ b/tuw_gazebo_models/models/hokuyo/main_v1.xacro
@@ -0,0 +1,85 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="hokuyo" >
+
+
+    <!-- hokuyo Laser --> 
+    <xacro:macro name="laser" params="name parent namespace topic_name frame_name xyz rpy driver:=cpu visualize:=true models_dir:=^" >
+    
+        <xacro:if value="${driver == 'gpu'}">
+            <xacro:property name="sensor_type" value="gpu_ray"/>
+        </xacro:if>
+        <xacro:if value="${driver == 'cpu'}">
+            <xacro:property name="sensor_type" value="ray"/>
+        </xacro:if>
+        
+        <joint name="${parent}_${name}_joint" type="fixed">
+            <axis xyz="0 0 1" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <parent link="${parent}"/>
+            <child link="${name}"/>
+        </joint>
+        
+        <link name="${name}">
+            <collision>
+                <origin xyz="0 0 -0.025" rpy="0 0 0"/>
+                <geometry>
+                <box size="0.05 0.05 0.05"/>
+                </geometry>
+            </collision>
+            <visual>
+                <origin xyz="0 0 -0.025" rpy="0 0 0"/>
+                <geometry>
+                <mesh filename="file://${models_dir}/hokuyo/meshes/hokuyo.dae"/>
+                </geometry>
+            </visual>
+            <inertial>
+                <mass value="1e-2" />
+                <origin xyz="0 0 -0.025" rpy="0 0 0"/>
+                <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+            </inertial>
+            
+   
+        </link>
+
+            <!-- ray sensor -->
+            <gazebo reference="${name}">
+                <sensor name="${name}_sensor" type="${sensor_type}">
+                    <pose>0 0 0 0 0 0</pose>
+                    <update_rate>30</update_rate>
+                    <visualize>${visualize}</visualize>  
+                    <always_on>true</always_on>
+                    <ray>
+                        <scan>
+                            <horizontal>
+                                <samples>683</samples>
+                                <resolution>1.0</resolution>
+                                <min_angle>-2.35619449019</min_angle>
+                                <max_angle>2.35619449019</max_angle>
+                            </horizontal>
+                        </scan>
+                        <range>
+                            <min>0.05</min>
+                            <max>10</max>
+                        </range>
+                        <noise>
+                            <type>gaussian</type>
+                            <mean>0.0</mean>
+                            <stddev>0.01</stddev>
+                        </noise>
+                    </ray>
+                    <plugin name="${name}_laserscan" filename="libgazebo_ros_ray_sensor.so">
+                        <ros>
+                            <namespace>${namespace}</namespace>
+                            <remapping>~/out:=${topic_name}</remapping>
+                        </ros>
+                        <output_type>sensor_msgs/LaserScan</output_type>
+                        <frame_name>${namespace}/${frame_name}</frame_name>
+                    </plugin>
+                </sensor>
+            </gazebo> 
+
+
+    </xacro:macro>
+
+  
+</robot>
diff --git a/tuw_gazebo_models/models/hokuyo/main.xacro b/tuw_gazebo_models/models/hokuyo/main_v2.xacro
similarity index 100%
rename from tuw_gazebo_models/models/hokuyo/main.xacro
rename to tuw_gazebo_models/models/hokuyo/main_v2.xacro
diff --git a/tuw_gazebo_models/models/pioneer3dx/main.xacro b/tuw_gazebo_models/models/pioneer3dx/main.xacro
index 380493e..bbdb83b 100644
--- a/tuw_gazebo_models/models/pioneer3dx/main.xacro
+++ b/tuw_gazebo_models/models/pioneer3dx/main.xacro
@@ -9,11 +9,13 @@
   <xacro:arg name="laser0_topic"     default="scan_raw"/>
   <xacro:arg name="laser0_visualize" default="true"/>
   <xacro:arg name="laser0_driver"    default="cpu"/>
+  <xacro:arg name="version"  	     default="v1"/>
     
   <xacro:property name="models_dir"    value="$(arg models_dir)"/>
   <xacro:property name="namespace"    value="$(arg namespace)"/>
   <xacro:property name="robot_model"   value="$(arg robot_model)"/>
   <xacro:property name="laser_model"   value="$(arg laser_model)"/>
+  <xacro:property name="version"    value="$(arg version)"/>
 
   <!-- Import Rviz colors -->
   <xacro:include filename="${models_dir}/materials.xacro" />
@@ -23,11 +25,11 @@
   <xacro:vehicle_body name="body" parent="base_link"/>
   
   <!-- differential drive  and joint stage plugin -->
-  <xacro:include filename="${models_dir}/${robot_model}/plugins.xacro"/>
+  <xacro:include filename="${models_dir}/${robot_model}/plugins_${version}.xacro"/>
   <xacro:differential_drive    name="$(arg robot_name)" namespace="${namespace}" />
   <xacro:joint_state_publisher name="$(arg robot_name)" namespace="${namespace}" />
   
   <!-- Laser -->
-  <xacro:include filename="${models_dir}/${laser_model}/main.xacro"/>
+  <xacro:include filename="${models_dir}/${laser_model}/main_${version}.xacro"/>
   <xacro:laser name="laser0" parent="top" namespace="${namespace}" topic_name="$(arg laser0_topic)" frame_name="laser0" xyz="0.15 0.0 0.06" rpy="0 0 0" driver="$(arg laser0_driver)" visualize="$(arg laser0_visualize)"/> 
 </robot>
diff --git a/tuw_gazebo_models/models/pioneer3dx/plugins_v1.xacro b/tuw_gazebo_models/models/pioneer3dx/plugins_v1.xacro
new file mode 100644
index 0000000..663a2f4
--- /dev/null
+++ b/tuw_gazebo_models/models/pioneer3dx/plugins_v1.xacro
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:macro name="differential_drive" params="name namespace">
+    <gazebo>
+        <plugin name='diff_drive' filename='libtuw_gazebo_ros_diff_drive.so'>
+          <ros>
+            <namespace>${namespace}</namespace>
+            <remapping>cmd_vel:=cmd_vel</remapping>
+            <remapping>odom:=odom</remapping>
+          </ros>
+
+          <left_joint>left_wheel_joint</left_joint>
+          <right_joint>right_wheel_joint</right_joint>
+          <wheel_separation>0.3</wheel_separation>
+          <wheel_diameter>0.18</wheel_diameter>
+          <max_wheel_torque>10</max_wheel_torque>
+          <max_wheel_acceleration>1.5</max_wheel_acceleration>
+
+          <publish_odom>true</publish_odom>
+          <publish_odom_tf>true</publish_odom_tf>
+          <publish_wheel_tf>false</publish_wheel_tf>
+          <odometry_source>0</odometry_source>
+          <publish_odom_ground_truth>true</publish_odom_ground_truth>
+
+          <odometry_frame>${namespace}/odom</odometry_frame>
+          <robot_base_frame>${namespace}/base_link</robot_base_frame>
+
+      </plugin>
+    </gazebo>    
+  </xacro:macro>
+  
+  <xacro:macro name="joint_state_publisher" params="name namespace">
+    <gazebo>
+    <plugin name="gazebo_ros_joint_state_publisher"
+        filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <namespace>${namespace}</namespace>
+        <remapping>joint_states:=joint_states</remapping>
+      </ros>
+      <update_rate>10</update_rate>
+      <joint_name>left_wheel_joint</joint_name>
+      <joint_name>right_wheel_joint</joint_name>
+      <joint_name>swivel_joint</joint_name>
+      <joint_name>swivel_wheel_joint</joint_name>
+    </plugin>
+    </gazebo>    
+  </xacro:macro>
+</robot>
diff --git a/tuw_gazebo_models/models/pioneer3dx/plugins.xacro b/tuw_gazebo_models/models/pioneer3dx/plugins_v2.xacro
similarity index 97%
rename from tuw_gazebo_models/models/pioneer3dx/plugins.xacro
rename to tuw_gazebo_models/models/pioneer3dx/plugins_v2.xacro
index cfafce4..e64b0c4 100644
--- a/tuw_gazebo_models/models/pioneer3dx/plugins.xacro
+++ b/tuw_gazebo_models/models/pioneer3dx/plugins_v2.xacro
@@ -8,6 +8,7 @@
             <namespace>${namespace}</namespace>
             <remapping>cmd_vel:=cmd_vel</remapping>
             <remapping>odom:=odom</remapping>
+            <remapping>/tf:=tf</remapping>
           </ros>
 
           <left_joint>left_wheel_joint</left_joint>
@@ -46,4 +47,4 @@
     </plugin>
     </gazebo>    
   </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>