diff --git a/.circleci/config.yml b/.circleci/config.yml
index 1d0c08e87df..4d962b4f0e6 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -82,7 +82,6 @@ _commands:
         - run:
             name: Install Dependencies | << parameters.workspace >>
             working_directory: << parameters.workspace >>
-            # Remove/Replace turtlebot3_gazebo and gazebo_ros_pkgs from --skip-keys after https://github.com/ros-navigation/navigation2/pull/3634
             command: |
               . << parameters.underlay >>/install/setup.sh
               AMENT_PREFIX_PATH=$(echo "$AMENT_PREFIX_PATH" | \
@@ -105,7 +104,6 @@ _commands:
                   --ignore-src \
                   --skip-keys " \
                     slam_toolbox \
-                    turtlebot3_gazebo \
                     " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \
diff --git a/Dockerfile b/Dockerfile
index 1f1060ccd70..43605415322 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -97,13 +97,11 @@ ENV OVERLAY_WS $OVERLAY_WS
 WORKDIR $OVERLAY_WS
 COPY --from=cacher /tmp/$OVERLAY_WS ./
 
-# Remove/Replace turtlebot3_gazebo and gazebo_ros_pkgs from --skip-keys after https://github.com/ros-navigation/navigation2/pull/3634
 RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
       --skip-keys " \
         slam_toolbox \
-        turtlebot3_gazebo \
         "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
@@ -170,9 +168,7 @@ RUN mkdir -p $ROOT_SRV
 
 # install demo dependencies
 RUN apt-get update && apt-get install -y \
-      ros-$ROS_DISTRO-aws-robomaker-small-warehouse-world \
       ros-$ROS_DISTRO-rviz2 \
-      ros-$ROS_DISTRO-turtlebot3-simulations
 
 # install gzweb dependacies
 RUN apt-get install -y --no-install-recommends \
diff --git a/nav2_bringup/CMakeLists.txt b/nav2_bringup/CMakeLists.txt
index 629034556e2..de7aa3dfd51 100644
--- a/nav2_bringup/CMakeLists.txt
+++ b/nav2_bringup/CMakeLists.txt
@@ -10,9 +10,7 @@ nav2_package()
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
index dbff594bc71..54f9d60f809 100644
--- a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -1,4 +1,5 @@
 # Copyright (c) 2023 LG Electronics.
+# Copyright (c) 2024 Open Navigation LLC
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,17 +15,23 @@
 
 
 import os
+from pathlib import Path
+import tempfile
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import (
+    AppendEnvironmentVariable,
     DeclareLaunchArgument,
     ExecuteProcess,
     GroupAction,
     IncludeLaunchDescription,
     LogInfo,
+    OpaqueFunction,
+    RegisterEventHandler,
 )
 from launch.conditions import IfCondition
+from launch.event_handlers import OnShutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, TextSubstitution
 from nav2_common.launch import ParseMultiRobotPose
@@ -43,10 +50,10 @@ def generate_launch_description():
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
+    sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
 
     # Simulation settings
     world = LaunchConfiguration('world')
-    simulator = LaunchConfiguration('simulator')
 
     # On this example all robots are launched with the same settings
     map_yaml_file = LaunchConfiguration('map')
@@ -60,19 +67,13 @@ def generate_launch_description():
     # Declare the launch arguments
     declare_world_cmd = DeclareLaunchArgument(
         'world',
-        default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
+        default_value=os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro'),
         description='Full path to world file to load',
     )
 
-    declare_simulator_cmd = DeclareLaunchArgument(
-        'simulator',
-        default_value='gazebo',
-        description='The simulator to use (gazebo or gzserver)',
-    )
-
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
-        default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
+        default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'),
         description='Full path to map file to load',
     )
 
@@ -107,18 +108,19 @@ def generate_launch_description():
     )
 
     # Start Gazebo with plugin providing the robot spawning service
-    start_gazebo_cmd = ExecuteProcess(
-        cmd=[
-            simulator,
-            '--verbose',
-            '-s',
-            'libgazebo_ros_init.so',
-            '-s',
-            'libgazebo_ros_factory.so',
-            world,
-        ],
-        output='screen',
-    )
+    world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
+    world_sdf_xacro = ExecuteProcess(
+        cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
+    start_gazebo_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
+                         'gz_sim.launch.py')),
+        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+
+    remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
+        on_shutdown=[
+            OpaqueFunction(function=lambda _: os.remove(world_sdf))
+        ]))
 
     robots_list = ParseMultiRobotPose('robots').value()
 
@@ -176,11 +178,18 @@ def generate_launch_description():
 
         bringup_cmd_group.append(group)
 
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
+    set_env_vars_resources2 = AppendEnvironmentVariable(
+            'GZ_SIM_RESOURCE_PATH',
+            str(Path(os.path.join(sim_dir)).parent.resolve()))
+
     # Create the launch description and populate
     ld = LaunchDescription()
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(set_env_vars_resources2)
 
     # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
     ld.add_action(declare_world_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_params_file_cmd)
@@ -190,7 +199,9 @@ def generate_launch_description():
     ld.add_action(declare_use_robot_state_pub_cmd)
 
     # Add the actions to start gazebo, robots and simulations
+    ld.add_action(world_sdf_xacro)
     ld.add_action(start_gazebo_cmd)
+    ld.add_action(remove_temp_sdf_file)
 
     ld.add_action(LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
 
diff --git a/nav2_bringup/launch/tb3_gz_robot_launch.py b/nav2_bringup/launch/tb3_gz_robot_launch.py
deleted file mode 100644
index dbc4f19ddc4..00000000000
--- a/nav2_bringup/launch/tb3_gz_robot_launch.py
+++ /dev/null
@@ -1,106 +0,0 @@
-# Copyright (C) 2023 Open Source Robotics Foundation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import AppendEnvironmentVariable
-from launch.actions import DeclareLaunchArgument
-from launch.conditions import IfCondition
-from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    bringup_dir = get_package_share_directory('nav2_bringup')
-
-    namespace = LaunchConfiguration('namespace')
-    use_simulator = LaunchConfiguration('use_simulator')
-    robot_name = LaunchConfiguration('robot_name')
-    robot_sdf = LaunchConfiguration('robot_sdf')
-    pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
-            'y': LaunchConfiguration('y_pose', default='-0.50'),
-            'z': LaunchConfiguration('z_pose', default='0.01'),
-            'R': LaunchConfiguration('roll', default='0.00'),
-            'P': LaunchConfiguration('pitch', default='0.00'),
-            'Y': LaunchConfiguration('yaw', default='0.00')}
-
-    # Declare the launch arguments
-    declare_namespace_cmd = DeclareLaunchArgument(
-        'namespace',
-        default_value='',
-        description='Top-level namespace')
-
-    declare_use_simulator_cmd = DeclareLaunchArgument(
-        'use_simulator',
-        default_value='True',
-        description='Whether to start the simulator')
-
-    declare_robot_name_cmd = DeclareLaunchArgument(
-        'robot_name',
-        default_value='turtlebot3_waffle',
-        description='name of the robot')
-
-    declare_robot_sdf_cmd = DeclareLaunchArgument(
-        'robot_sdf',
-        default_value=os.path.join(bringup_dir, 'worlds', 'gz_waffle.sdf'),
-        description='Full path to robot sdf file to spawn the robot in gazebo')
-
-    pkg_nav2_bringup = get_package_share_directory('nav2_bringup')
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        parameters=[
-            {
-                'config_file': os.path.join(
-                    pkg_nav2_bringup, 'params', 'turtlebot3_waffle_bridge.yaml'
-                ),
-            }
-        ],
-        output='screen',
-    )
-
-    spawn_model = Node(
-        condition=IfCondition(use_simulator),
-        package='ros_gz_sim',
-        executable='create',
-        output='screen',
-        arguments=[
-            '-entity', robot_name,
-            '-file', robot_sdf,
-            '-robot_namespace', namespace,
-            '-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
-            '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']]
-    )
-
-    set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
-            os.path.join(get_package_share_directory('turtlebot3_gazebo'),
-                         'models'))
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-    ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_robot_name_cmd)
-    ld.add_action(declare_robot_sdf_cmd)
-    ld.add_action(declare_use_simulator_cmd)
-
-    ld.add_action(set_env_vars_resources)
-
-    ld.add_action(bridge)
-    ld.add_action(spawn_model)
-    return ld
diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py
index 2655125a91e..cf6262cd39d 100644
--- a/nav2_bringup/launch/tb3_simulation_launch.py
+++ b/nav2_bringup/launch/tb3_simulation_launch.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2018 Intel Corporation
+# Copyright (C) 2023 Open Source Robotics Foundation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -15,6 +15,7 @@
 """This is all-in-one launch script intended for use by nav2 developers."""
 
 import os
+import tempfile
 
 from ament_index_python.packages import get_package_share_directory
 
@@ -23,10 +24,14 @@
     DeclareLaunchArgument,
     ExecuteProcess,
     IncludeLaunchDescription,
+    OpaqueFunction,
+    RegisterEventHandler,
 )
 from launch.conditions import IfCondition
+from launch.event_handlers import OnShutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
+
 from launch_ros.actions import Node
 
 
@@ -34,8 +39,7 @@ def generate_launch_description():
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
-    # This checks that tb3 exists needed for the URDF. If not using TB3, its safe to remove.
-    _ = get_package_share_directory('turtlebot3_gazebo')
+    sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
 
     # Create the launch configuration variables
     slam = LaunchConfiguration('slam')
@@ -66,12 +70,6 @@ def generate_launch_description():
     robot_name = LaunchConfiguration('robot_name')
     robot_sdf = LaunchConfiguration('robot_sdf')
 
-    # Map fully qualified names to relative ones so the node's namespace can be prepended.
-    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
-    # https://github.com/ros/geometry2/issues/32
-    # https://github.com/ros/robot_state_publisher/pull/30
-    # TODO(orduno) Substitute with `PushNodeRemapping`
-    #              https://github.com/ros2/launch_ros/issues/56
     remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
     # Declare the launch arguments
@@ -91,8 +89,7 @@ def generate_launch_description():
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
-        default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
-        description='Full path to map file to load',
+        default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'),
     )
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(
@@ -153,11 +150,7 @@ def generate_launch_description():
 
     declare_world_cmd = DeclareLaunchArgument(
         'world',
-        # TODO(orduno) Switch back once ROS argument passing has been fixed upstream
-        #              https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
-        # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
-        # worlds/turtlebot3_worlds/waffle.model')
-        default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
+        default_value=os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro'),
         description='Full path to world model file to load',
     )
 
@@ -167,33 +160,11 @@ def generate_launch_description():
 
     declare_robot_sdf_cmd = DeclareLaunchArgument(
         'robot_sdf',
-        default_value=os.path.join(bringup_dir, 'worlds', 'waffle.model'),
+        default_value=os.path.join(sim_dir, 'urdf', 'gz_waffle.sdf'),
         description='Full path to robot sdf file to spawn the robot in gazebo',
     )
 
-    # Specify the actions
-    start_gazebo_server_cmd = ExecuteProcess(
-        condition=IfCondition(use_simulator),
-        cmd=[
-            'gzserver',
-            '-s',
-            'libgazebo_ros_init.so',
-            '-s',
-            'libgazebo_ros_factory.so',
-            world,
-        ],
-        cwd=[launch_dir],
-        output='screen',
-    )
-
-    start_gazebo_client_cmd = ExecuteProcess(
-        condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])),
-        cmd=['gzclient'],
-        cwd=[launch_dir],
-        output='screen',
-    )
-
-    urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle.urdf')
     with open(urdf, 'r') as infp:
         robot_description = infp.read()
 
@@ -210,32 +181,6 @@ def generate_launch_description():
         remappings=remappings,
     )
 
-    start_gazebo_spawner_cmd = Node(
-        package='gazebo_ros',
-        executable='spawn_entity.py',
-        output='screen',
-        arguments=[
-            '-entity',
-            robot_name,
-            '-file',
-            robot_sdf,
-            '-robot_namespace',
-            namespace,
-            '-x',
-            pose['x'],
-            '-y',
-            pose['y'],
-            '-z',
-            pose['z'],
-            '-R',
-            pose['R'],
-            '-P',
-            pose['P'],
-            '-Y',
-            pose['Y'],
-        ],
-    )
-
     rviz_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
         condition=IfCondition(use_rviz),
@@ -261,6 +206,51 @@ def generate_launch_description():
             'use_respawn': use_respawn,
         }.items(),
     )
+    # The SDF file for the world is a xacro file because we wanted to
+    # conditionally load the SceneBroadcaster plugin based on wheter we're
+    # running in headless mode. But currently, the Gazebo command line doesn't
+    # take SDF strings for worlds, so the output of xacro needs to be saved into
+    # a temporary file and passed to Gazebo.
+    world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
+    world_sdf_xacro = ExecuteProcess(
+        cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
+                         'gz_sim.launch.py')),
+        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items(),
+        condition=IfCondition(use_simulator))
+
+    remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
+        on_shutdown=[
+            OpaqueFunction(function=lambda _: os.remove(world_sdf))
+        ]))
+
+    gazebo_client = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('ros_gz_sim'),
+                         'launch',
+                         'gz_sim.launch.py')
+        ),
+        condition=IfCondition(PythonExpression(
+            [use_simulator, ' and not ', headless])),
+        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+    )
+
+    gz_robot = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(sim_dir, 'launch', 'spawn_tb3.launch.py')),
+        launch_arguments={'namespace': namespace,
+                          'use_simulator': use_simulator,
+                          'use_sim_time': use_sim_time,
+                          'robot_name': robot_name,
+                          'robot_sdf': robot_sdf,
+                          'x_pose': pose['x'],
+                          'y_pose': pose['y'],
+                          'z_pose': pose['z'],
+                          'roll': pose['R'],
+                          'pitch': pose['P'],
+                          'yaw': pose['Y']}.items())
 
     # Create the launch description and populate
     ld = LaunchDescription()
@@ -285,10 +275,11 @@ def generate_launch_description():
     ld.add_action(declare_robot_sdf_cmd)
     ld.add_action(declare_use_respawn_cmd)
 
-    # Add any conditioned actions
-    ld.add_action(start_gazebo_server_cmd)
-    ld.add_action(start_gazebo_client_cmd)
-    ld.add_action(start_gazebo_spawner_cmd)
+    ld.add_action(world_sdf_xacro)
+    ld.add_action(remove_temp_sdf_file)
+    ld.add_action(gz_robot)
+    ld.add_action(gazebo_server)
+    ld.add_action(gazebo_client)
 
     # Add the actions to launch all of the navigation nodes
     ld.add_action(start_robot_state_publisher_cmd)
diff --git a/nav2_bringup/launch/tb3_gz_simulation_launch.py b/nav2_bringup/launch/tb4_simulation_launch.py
similarity index 84%
rename from nav2_bringup/launch/tb3_gz_simulation_launch.py
rename to nav2_bringup/launch/tb4_simulation_launch.py
index a6147518d9c..73ae1ac36cf 100644
--- a/nav2_bringup/launch/tb3_gz_simulation_launch.py
+++ b/nav2_bringup/launch/tb4_simulation_launch.py
@@ -1,4 +1,4 @@
-# Copyright (C) 2023 Open Source Robotics Foundation
+# Copyright (C) 2024 Open Navigation LLC
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -31,7 +31,7 @@
 from launch.conditions import IfCondition
 from launch.event_handlers import OnShutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.substitutions import Command, LaunchConfiguration, PythonExpression
 
 from launch_ros.actions import Node
 
@@ -40,8 +40,10 @@ def generate_launch_description():
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
-    # This checks that tb3 exists needed for the URDF. If not using TB3, its safe to remove.
-    _ = get_package_share_directory('turtlebot3_gazebo')
+    # This checks that tb4 exists needed for the URDF / simulation files.
+    # If not using TB4, its safe to remove.
+    sim_dir = get_package_share_directory('nav2_minimal_tb4_sim')
+    desc_dir = get_package_share_directory('nav2_minimal_tb4_description')
 
     # Create the launch configuration variables
     slam = LaunchConfiguration('slam')
@@ -62,22 +64,16 @@ def generate_launch_description():
     headless = LaunchConfiguration('headless')
     world = LaunchConfiguration('world')
     pose = {
-        'x': LaunchConfiguration('x_pose', default='-2.00'),
-        'y': LaunchConfiguration('y_pose', default='-0.50'),
+        'x': LaunchConfiguration('x_pose', default='-8.00'),  # Warehouse: 2.12
+        'y': LaunchConfiguration('y_pose', default='0.00'),  # Warehouse: -21.3
         'z': LaunchConfiguration('z_pose', default='0.01'),
         'R': LaunchConfiguration('roll', default='0.00'),
         'P': LaunchConfiguration('pitch', default='0.00'),
-        'Y': LaunchConfiguration('yaw', default='0.00'),
+        'Y': LaunchConfiguration('yaw', default='0.00'),  # Warehouse: 1.57
     }
     robot_name = LaunchConfiguration('robot_name')
     robot_sdf = LaunchConfiguration('robot_sdf')
 
-    # Map fully qualified names to relative ones so the node's namespace can be prepended.
-    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
-    # https://github.com/ros/geometry2/issues/32
-    # https://github.com/ros/robot_state_publisher/pull/30
-    # TODO(orduno) Substitute with `PushNodeRemapping`
-    #              https://github.com/ros2/launch_ros/issues/56
     remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
     # Declare the launch arguments
@@ -97,7 +93,7 @@ def generate_launch_description():
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
-        default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
+        default_value=os.path.join(bringup_dir, 'maps', 'depot.yaml'),  # Try warehouse.yaml!
         description='Full path to map file to load',
     )
 
@@ -159,28 +155,20 @@ def generate_launch_description():
 
     declare_world_cmd = DeclareLaunchArgument(
         'world',
-        # TODO(orduno) Switch back once ROS argument passing has been fixed upstream
-        #              https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
-        # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
-        # worlds/turtlebot3_worlds/waffle.model')
-        default_value=os.path.join(bringup_dir, 'worlds', 'gz_world_only.sdf.xacro'),
+        default_value=os.path.join(sim_dir, 'worlds', 'depot.sdf'),  # Try warehouse.sdf!
         description='Full path to world model file to load',
     )
 
     declare_robot_name_cmd = DeclareLaunchArgument(
-        'robot_name', default_value='turtlebot3_waffle', description='name of the robot'
+        'robot_name', default_value='nav2_turtlebot4', description='name of the robot'
     )
 
     declare_robot_sdf_cmd = DeclareLaunchArgument(
         'robot_sdf',
-        default_value=os.path.join(bringup_dir, 'worlds', 'gz_waffle.sdf'),
+        default_value=os.path.join(desc_dir, 'urdf', 'standard', 'turtlebot4.urdf.xacro'),
         description='Full path to robot sdf file to spawn the robot in gazebo',
     )
 
-    urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
-    with open(urdf, 'r') as infp:
-        robot_description = infp.read()
-
     start_robot_state_publisher_cmd = Node(
         condition=IfCondition(use_robot_state_pub),
         package='robot_state_publisher',
@@ -189,7 +177,7 @@ def generate_launch_description():
         namespace=namespace,
         output='screen',
         parameters=[
-            {'use_sim_time': use_sim_time, 'robot_description': robot_description}
+            {'use_sim_time': use_sim_time, 'robot_description': Command(['xacro', ' ', robot_sdf])}
         ],
         remappings=remappings,
     )
@@ -200,6 +188,7 @@ def generate_launch_description():
         launch_arguments={
             'namespace': namespace,
             'use_namespace': use_namespace,
+            'use_sim_time': use_sim_time,
             'rviz_config': rviz_config_file,
         }.items(),
     )
@@ -240,8 +229,7 @@ def generate_launch_description():
 
     set_env_vars_resources = AppendEnvironmentVariable(
             'GZ_SIM_RESOURCE_PATH',
-            os.path.join(get_package_share_directory('turtlebot3_gazebo'),
-                         'models'))
+            os.path.join(sim_dir, 'worlds'))
     gazebo_client = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'),
@@ -255,7 +243,7 @@ def generate_launch_description():
 
     gz_robot = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(launch_dir, 'tb3_gz_robot_launch.py')),
+            os.path.join(sim_dir, 'launch', 'spawn_tb4.launch.py')),
         launch_arguments={'namespace': namespace,
                           'use_simulator': use_simulator,
                           'use_sim_time': use_sim_time,
diff --git a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
index 2319def79ab..7eaaf1a97d6 100644
--- a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
@@ -21,18 +21,24 @@
 """
 
 import os
+from pathlib import Path
+import tempfile
 
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
 from launch.actions import (
+    AppendEnvironmentVariable,
     DeclareLaunchArgument,
     ExecuteProcess,
     GroupAction,
     IncludeLaunchDescription,
     LogInfo,
+    OpaqueFunction,
+    RegisterEventHandler,
 )
 from launch.conditions import IfCondition
+from launch.event_handlers import OnShutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, TextSubstitution
 
@@ -41,6 +47,7 @@ def generate_launch_description():
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
+    sim_dir = get_package_share_directory('nav2_minimal_tb3_sim')
 
     # Names and poses of the robots
     robots = [
@@ -66,7 +73,6 @@ def generate_launch_description():
 
     # Simulation settings
     world = LaunchConfiguration('world')
-    simulator = LaunchConfiguration('simulator')
 
     # On this example all robots are launched with the same settings
     map_yaml_file = LaunchConfiguration('map')
@@ -80,19 +86,13 @@ def generate_launch_description():
     # Declare the launch arguments
     declare_world_cmd = DeclareLaunchArgument(
         'world',
-        default_value=os.path.join(bringup_dir, 'worlds', 'world_only.model'),
+        default_value=os.path.join(sim_dir, 'worlds', 'tb3_sandbox.sdf.xacro'),
         description='Full path to world file to load',
     )
 
-    declare_simulator_cmd = DeclareLaunchArgument(
-        'simulator',
-        default_value='gazebo',
-        description='The simulator to use (gazebo or gzserver)',
-    )
-
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
-        default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
+        default_value=os.path.join(bringup_dir, 'maps', 'tb3_sandbox.yaml'),
         description='Full path to map file to load',
     )
 
@@ -135,18 +135,19 @@ def generate_launch_description():
     )
 
     # Start Gazebo with plugin providing the robot spawning service
-    start_gazebo_cmd = ExecuteProcess(
-        cmd=[
-            simulator,
-            '--verbose',
-            '-s',
-            'libgazebo_ros_init.so',
-            '-s',
-            'libgazebo_ros_factory.so',
-            world,
-        ],
-        output='screen',
-    )
+    world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
+    world_sdf_xacro = ExecuteProcess(
+        cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
+    start_gazebo_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
+                         'gz_sim.launch.py')),
+        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+
+    remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
+        on_shutdown=[
+            OpaqueFunction(function=lambda _: os.remove(world_sdf))
+        ]))
 
     # Define commands for launching the navigation instances
     nav_instances_cmds = []
@@ -223,11 +224,18 @@ def generate_launch_description():
 
         nav_instances_cmds.append(group)
 
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
+    set_env_vars_resources2 = AppendEnvironmentVariable(
+            'GZ_SIM_RESOURCE_PATH',
+            str(Path(os.path.join(sim_dir)).parent.resolve()))
+
     # Create the launch description and populate
     ld = LaunchDescription()
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(set_env_vars_resources2)
 
     # Declare the launch options
-    ld.add_action(declare_simulator_cmd)
     ld.add_action(declare_world_cmd)
     ld.add_action(declare_map_yaml_cmd)
     ld.add_action(declare_robot1_params_file_cmd)
@@ -238,7 +246,9 @@ def generate_launch_description():
     ld.add_action(declare_use_robot_state_pub_cmd)
 
     # Add the actions to start gazebo, robots and simulations
+    ld.add_action(world_sdf_xacro)
     ld.add_action(start_gazebo_cmd)
+    ld.add_action(remove_temp_sdf_file)
 
     for simulation_instance_cmd in nav_instances_cmds:
         ld.add_action(simulation_instance_cmd)
diff --git a/nav2_bringup/maps/depot.pgm b/nav2_bringup/maps/depot.pgm
new file mode 100644
index 00000000000..dc686c7088a
Binary files /dev/null and b/nav2_bringup/maps/depot.pgm differ
diff --git a/nav2_bringup/maps/depot.yaml b/nav2_bringup/maps/depot.yaml
new file mode 100644
index 00000000000..8c7486b8ab6
--- /dev/null
+++ b/nav2_bringup/maps/depot.yaml
@@ -0,0 +1,7 @@
+image: depot.pgm
+mode: trinary
+resolution: 0.05
+origin: [-7.14, -7.83, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
diff --git a/nav2_bringup/maps/turtlebot3_world.pgm b/nav2_bringup/maps/tb3_sandbox.pgm
similarity index 100%
rename from nav2_bringup/maps/turtlebot3_world.pgm
rename to nav2_bringup/maps/tb3_sandbox.pgm
diff --git a/nav2_bringup/maps/turtlebot3_world.yaml b/nav2_bringup/maps/tb3_sandbox.yaml
similarity index 80%
rename from nav2_bringup/maps/turtlebot3_world.yaml
rename to nav2_bringup/maps/tb3_sandbox.yaml
index 51d4387e3a9..676b700a80d 100644
--- a/nav2_bringup/maps/turtlebot3_world.yaml
+++ b/nav2_bringup/maps/tb3_sandbox.yaml
@@ -1,4 +1,4 @@
-image: turtlebot3_world.pgm
+image: tb3_sandbox.pgm
 resolution: 0.050000
 origin: [-10.000000, -10.000000, 0.000000]
 negate: 0
diff --git a/nav2_bringup/maps/warehouse.pgm b/nav2_bringup/maps/warehouse.pgm
new file mode 100644
index 00000000000..7ba02265299
Binary files /dev/null and b/nav2_bringup/maps/warehouse.pgm differ
diff --git a/nav2_bringup/maps/warehouse.yaml b/nav2_bringup/maps/warehouse.yaml
new file mode 100644
index 00000000000..46eb197ae09
--- /dev/null
+++ b/nav2_bringup/maps/warehouse.yaml
@@ -0,0 +1,7 @@
+image: warehouse.pgm
+mode: trinary
+resolution: 0.03
+origin: [-15.1, -25, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.1
diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
index 3216746350f..6ff48ad5be8 100644
--- a/nav2_bringup/package.xml
+++ b/nav2_bringup/package.xml
@@ -24,8 +24,8 @@
   <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>slam_toolbox</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <!-- Replace after https://github.com/ros-navigation/navigation2/pull/3634 -->
-  <!-- <exec_depend>turtlebot3_gazebo</exec_depend> -->
+  <exec_depend>nav2_minimal_tb4_sim</exec_depend>
+  <exec_depend>nav2_minimal_tb3_sim</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
index 85be4769c44..a62d1221c2f 100644
--- a/nav2_bringup/params/nav2_multirobot_params_1.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -98,8 +98,6 @@ controller_server:
       min_speed_xy: 0.0
       max_speed_xy: 0.26
       min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
       acc_lim_x: 2.5
       acc_lim_y: 0.0
       acc_lim_theta: 3.2
@@ -194,7 +192,7 @@ global_costmap:
 
 map_server:
   ros__parameters:
-    yaml_filename: "turtlebot3_world.yaml"
+    yaml_filename: "tb3_sandbox.yaml"
     save_map_timeout: 5.0
 
 planner_server:
diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
index 7ab3d0e3351..d2befc70f5e 100644
--- a/nav2_bringup/params/nav2_multirobot_params_2.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -98,8 +98,6 @@ controller_server:
       min_speed_xy: 0.0
       max_speed_xy: 0.26
       min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
       acc_lim_x: 2.5
       acc_lim_y: 0.0
       acc_lim_theta: 3.2
@@ -193,7 +191,7 @@ global_costmap:
 
 map_server:
   ros__parameters:
-    yaml_filename: "turtlebot3_world.yaml"
+    yaml_filename: "tb3_sandbox.yaml"
     save_map_timeout: 5.0
 
 planner_server:
diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
index a61faf1d217..b5960cbbd4c 100644
--- a/nav2_bringup/params/nav2_multirobot_params_all.yaml
+++ b/nav2_bringup/params/nav2_multirobot_params_all.yaml
@@ -104,8 +104,6 @@ controller_server:
       min_speed_xy: 0.0
       max_speed_xy: 0.26
       min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
       acc_lim_x: 2.5
       acc_lim_y: 0.0
       acc_lim_theta: 3.2
diff --git a/nav2_bringup/params/turtlebot3_waffle_bridge.yaml b/nav2_bringup/params/turtlebot3_waffle_bridge.yaml
deleted file mode 100644
index 843699f8eb8..00000000000
--- a/nav2_bringup/params/turtlebot3_waffle_bridge.yaml
+++ /dev/null
@@ -1,51 +0,0 @@
-# replace clock_bridge
-- ros_topic_name: "clock"
-  gz_topic_name: "/clock"
-  ros_type_name: "rosgraph_msgs/msg/Clock"
-  gz_type_name: "gz.msgs.Clock"
-  direction: GZ_TO_ROS
-
-# no equivalent in TB3 - add
-- ros_topic_name: "joint_states"
-  gz_topic_name: "joint_states"
-  ros_type_name: "sensor_msgs/msg/JointState"
-  gz_type_name: "gz.msgs.Model"
-  direction: GZ_TO_ROS
-
-# replace odom_bridge - check gz topic name
-# gz topic published by DiffDrive plugin
-- ros_topic_name: "odom"
-  gz_topic_name: "/odom"
-  ros_type_name: "nav_msgs/msg/Odometry"
-  gz_type_name: "gz.msgs.Odometry"
-  direction: GZ_TO_ROS
-
-# replace odom_tf_bridge - check gz and ros topic names
-# gz topic published by DiffDrive plugin
-# prefix ros2 topic with gz
-- ros_topic_name: "tf"
-  gz_topic_name: "/tf"
-  ros_type_name: "tf2_msgs/msg/TFMessage"
-  gz_type_name: "gz.msgs.Pose_V"
-  direction: GZ_TO_ROS
-
-# replace imu_bridge - check gz topic name
-- ros_topic_name: "imu"
-  gz_topic_name: "/imu"
-  ros_type_name: "sensor_msgs/msg/Imu"
-  gz_type_name: "gz.msgs.IMU"
-  direction: GZ_TO_ROS
-
-# replace lidar_bridge
-- ros_topic_name: "scan"
-  gz_topic_name: "/scan"
-  ros_type_name: "sensor_msgs/msg/LaserScan"
-  gz_type_name: "gz.msgs.LaserScan"
-  direction: GZ_TO_ROS
-
-# replace cmd_vel_bridge
-- ros_topic_name: "cmd_vel"
-  gz_topic_name: "/cmd_vel"
-  ros_type_name: "geometry_msgs/msg/Twist"
-  gz_type_name: "gz.msgs.Twist"
-  direction: ROS_TO_GZ
diff --git a/nav2_bringup/rviz/nav2_default_view.rviz b/nav2_bringup/rviz/nav2_default_view.rviz
index 28e4f10334f..3b64a69f06c 100644
--- a/nav2_bringup/rviz/nav2_default_view.rviz
+++ b/nav2_bringup/rviz/nav2_default_view.rviz
@@ -562,7 +562,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: -1.5708
+      Angle: -0.0008007669821381569
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -572,10 +572,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 160
+      Scale: 54
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: 0
+      X: -5.41
       Y: 0
     Saved: ~
 Window Geometry:
diff --git a/nav2_bringup/rviz/nav2_namespaced_view.rviz b/nav2_bringup/rviz/nav2_namespaced_view.rviz
index e95196a7fba..9f70030775e 100644
--- a/nav2_bringup/rviz/nav2_namespaced_view.rviz
+++ b/nav2_bringup/rviz/nav2_namespaced_view.rviz
@@ -342,7 +342,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: -1.5708
+      Angle: -0.0008007669821381569
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -352,10 +352,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 160
+      Scale: 54
       Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz_default_plugins)
-      X: 0
+      X: -5.41
       Y: 0
     Saved: ~
 Window Geometry:
diff --git a/nav2_bringup/urdf/turtlebot3_waffle.urdf b/nav2_bringup/urdf/turtlebot3_waffle.urdf
deleted file mode 100644
index f56bd6d479e..00000000000
--- a/nav2_bringup/urdf/turtlebot3_waffle.urdf
+++ /dev/null
@@ -1,293 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
-
-  <xacro:property name="r200_cam_rgb_px" value="0.005"/>
-  <xacro:property name="r200_cam_rgb_py" value="0.018"/>
-  <xacro:property name="r200_cam_rgb_pz" value="0.013"/>
-  <xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
-
-  <!-- Init colour -->
-  <material name="black">
-      <color rgba="0.0 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="dark">
-    <color rgba="0.3 0.3 0.3 1.0"/>
-  </material>
-
-  <material name="light_black">
-    <color rgba="0.4 0.4 0.4 1.0"/>
-  </material>
-
-  <material name="blue">
-    <color rgba="0.0 0.0 0.8 1.0"/>
-  </material>
-
-  <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
-  </material>
-
-  <material name="grey">
-    <color rgba="0.5 0.5 0.5 1.0"/>
-  </material>
-
-  <material name="orange">
-    <color rgba="1.0 0.4235 0.0392 1.0"/>
-  </material>
-
-  <material name="brown">
-    <color rgba="0.8706 0.8118 0.7647 1.0"/>
-  </material>
-
-  <material name="red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
-
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link" />
-    <origin xyz="0 0 0.010" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.266 0.266 0.094"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="1.3729096e+00"/>
-      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
-               iyy="8.6195418e-03" iyz="-3.5422299e-06"
-               izz="1.4612727e-02" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="caster_back_right_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_right_link"/>
-    <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_right_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="caster_back_left_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_left_link"/>
-    <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_left_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="camera_joint" type="fixed">
-    <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-  </joint>
-
-  <link name="camera_link">
-    <visual>
-     <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.012 0.132 0.020"/>
-      </geometry>
-    </collision>
-
-    <!-- This inertial field needs doesn't contain reliable data!! -->
-<!--   <inertial>
-      <mass value="0.564" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
-               iyy="0.000498940" iyz="0.0"
-               izz="0.003879257" />
-    </inertial>-->
-  </link>
-
-  <joint name="camera_rgb_joint" type="fixed">
-    <origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_rgb_frame"/>
-  </joint>
-  <link name="camera_rgb_frame"/>
-
-  <joint name="camera_rgb_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
-    <parent link="camera_rgb_frame"/>
-    <child link="camera_rgb_optical_frame"/>
-  </joint>
-  <link name="camera_rgb_optical_frame"/>
-
-  <joint name="camera_depth_joint" type="fixed">
-    <origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_depth_frame"/>
-  </joint>
-  <link name="camera_depth_frame"/>
-
-  <joint name="camera_depth_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <parent link="camera_depth_frame"/>
-    <child link="camera_depth_optical_frame"/>
-  </joint>
-  <link name="camera_depth_optical_frame"/>
-
-</robot>
diff --git a/nav2_bringup/worlds/gz_waffle.sdf b/nav2_bringup/worlds/gz_waffle.sdf
deleted file mode 100644
index 283dc4e4a73..00000000000
--- a/nav2_bringup/worlds/gz_waffle.sdf
+++ /dev/null
@@ -1,490 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-    <model name="turtlebot3_waffle"> 
-      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
-
-      <link name="base_footprint"/>
-
-      <link name="base_link">
-
-        <inertial>
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-
-        <collision name="base_collision">
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.265 0.265 0.089</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <visual name="base_visual">
-          <pose>-0.064 0 0 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <diffuse>1 1 1</diffuse>
-          </material>
-        </visual>
-      </link>
-
-      <link name="imu_link">
-        <sensor name="tb3_imu" type="imu">
-          <always_on>true</always_on>
-          <update_rate>200</update_rate>
-          <topic>imu</topic>
-          <gz_frame_id>imu_link</gz_frame_id>
-          <imu>
-            <angular_velocity>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </z>
-            </angular_velocity>
-            <linear_acceleration>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </z>
-            </linear_acceleration>
-          </imu>
-        </sensor>
-      </link>
-
-      <link name="base_scan">
-        <inertial>
-          <pose>-0.064 0 0.121 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.125</mass>
-        </inertial>
-
-        <collision name="lidar_sensor_collision">
-          <pose>-0.052 0 0.111 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.0508</radius>
-              <length>0.055</length>
-            </cylinder>
-          </geometry>
-        </collision>
-
-        <visual name="lidar_sensor_visual">
-          <pose>-0.064 0 0.121 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/lds.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <diffuse>1 1 1</diffuse>
-          </material>
-        </visual>
-
-        <sensor name="hls_lfcd_lds" type="gpu_lidar">
-          <always_on>true</always_on>
-          <visualize>true</visualize>
-          <pose>-0.064 0 0.15 0 0 0</pose>
-          <update_rate>5</update_rate>
-          <topic>scan</topic>
-          <gz_frame_id>base_scan</gz_frame_id>
-          <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>0.00001</min>
-              <max>20.0</max>
-              <resolution>0.015000</resolution>
-            </range>
-            <noise>
-              <type>gaussian</type>
-              <mean>0.0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </ray>
-        </sensor>
-      </link>
-
-      <link name="wheel_left_link">
-
-        <inertial>
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.1</mass>
-        </inertial>
-
-        <collision name="wheel_left_collision">
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.033</radius>
-              <length>0.018</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-                <slip1>0.035</slip1>
-                <slip2>0</slip2>
-                <fdir1>0 0 1</fdir1>
-              </ode>
-            </friction>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-
-        <visual name="wheel_left_visual">
-          <pose>0.0 0.144 0.023 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <diffuse>1 1 1</diffuse>
-          </material>
-        </visual>
-      </link>
-
-      <link name="wheel_right_link">
-
-        <inertial>
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.1</mass>
-        </inertial>
-      
-        <collision name="wheel_right_collision">
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.033</radius>
-              <length>0.018</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1</mu>
-                <mu2>1</mu2>
-                <slip1>0.035</slip1>
-                <slip2>0</slip2>
-                <fdir1>0 0 1</fdir1>
-              </ode>
-            </friction>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-
-        <visual name="wheel_right_visual">
-          <pose>0.0 -0.144 0.023 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-          <material>
-            <diffuse>1 1 1</diffuse>
-          </material>
-        </visual>
-      </link>
-
-      <link name='caster_back_right_link'>
-        <pose>-0.177 -0.064 -0.004 0 0 0</pose>
-        <inertial>
-          <mass>0.001</mass>
-          <inertia>
-            <ixx>0.00001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.00001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.00001</izz>
-          </inertia>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.005000</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-
-      <link name='caster_back_left_link'>
-        <pose>-0.177 0.064 -0.004 0 0 0</pose>
-        <inertial>
-          <mass>0.001</mass>
-          <inertia>
-            <ixx>0.00001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.00001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.00001</izz>
-          </inertia>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.005000</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-
-      <link name="camera_link">
-        <inertial>
-          <pose>0.069 -0.047 0.107 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.035</mass>
-        </inertial>
-        <collision name="collision">
-          <pose>0 0.047 -0.005 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.130 0.022</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <pose>0.069 -0.047 0.107 0 0 0</pose>
-
-        <sensor name="intel_realsense_r200_depth" type="depth">
-          <always_on>1</always_on>
-          <update_rate>5</update_rate>
-          <pose>0.064 -0.047 0.107 0 0 0</pose>
-          <gz_frame_id>camera_depth_frame</gz_frame_id>
-          <camera name="realsense_depth_camera">
-            <horizontal_fov>1.047</horizontal_fov>
-            <image>
-              <width>320</width>
-              <height>240</height>
-            </image>
-            <lens>
-              <projection>
-                <!-- focal_length = fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                <!-- tx = hackBaseline * focal_length -->
-                <tx>19.4</tx>
-              </projection>
-            </lens>
-            <depth_camera>
-              <clip>
-                <near>0.001</near>
-                <far>5.0</far>
-              </clip>
-            </depth_camera>
-          </camera>
-        </sensor>
-      </link>
-
-      <joint name="base_joint" type="fixed">
-        <parent>base_footprint</parent>
-        <child>base_link</child>
-        <pose>0.0 0.0 0.010 0 0 0</pose>
-      </joint>
-
-      <joint name="wheel_left_joint" type="revolute">
-        <parent>base_link</parent>
-        <child>wheel_left_link</child>
-        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="wheel_right_joint" type="revolute">
-        <parent>base_link</parent>
-        <child>wheel_right_link</child>
-        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name='caster_back_right_joint' type='ball'>
-        <parent>base_link</parent>
-        <child>caster_back_right_link</child>
-      </joint>
-
-      <joint name='caster_back_left_joint' type='ball'>
-        <parent>base_link</parent>
-        <child>caster_back_left_link</child>
-      </joint>
-
-      <joint name="lidar_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>base_scan</child>
-        <pose>-0.064 0 0.121 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="camera_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>camera_link</child>
-        <pose>0.064 -0.065 0.094 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-
-      <plugin
-        filename="gz-sim-diff-drive-system"
-        name="gz::sim::systems::DiffDrive">
-        <left_joint>wheel_left_joint</left_joint>
-        <right_joint>wheel_right_joint</right_joint>
-        <wheel_separation>0.287</wheel_separation>
-        <wheel_radius>0.033</wheel_radius>
-        <max_linear_acceleration>1</max_linear_acceleration>
-        <min_linear_acceleration>-1</min_linear_acceleration>
-        <max_angular_acceleration>2</max_angular_acceleration>
-        <min_angular_acceleration>-2</min_angular_acceleration>
-        <max_linear_velocity>0.46</max_linear_velocity>
-        <min_linear_velocity>-0.46</min_linear_velocity>
-        <max_angular_velocity>1.9</max_angular_velocity>
-        <min_angular_velocity>-1.9</min_angular_velocity>
-        <topic>/cmd_vel</topic>
-        <odom_topic>/odom</odom_topic>
-        <tf_topic>tf</tf_topic>
-        <frame_id>odom</frame_id>
-        <child_frame_id>base_footprint</child_frame_id>
-        <odom_publish_frequency>30</odom_publish_frequency>
-      </plugin>
-
-      <plugin
-        filename="gz-sim-joint-state-publisher-system"
-        name="gz::sim::systems::JointStatePublisher">
-        <joint_name>wheel_left_joint</joint_name>
-        <joint_name>wheel_right_joint</joint_name>
-        <topic>joint_states</topic>
-        <update_rate>30</update_rate>
-      </plugin>
-
-    </model>
-</sdf>
diff --git a/nav2_bringup/worlds/gz_world_only.sdf.xacro b/nav2_bringup/worlds/gz_world_only.sdf.xacro
deleted file mode 100644
index d93c7facf05..00000000000
--- a/nav2_bringup/worlds/gz_world_only.sdf.xacro
+++ /dev/null
@@ -1,89 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:arg name="headless" default="true"/>
-
-  <world name="default">
-    <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>
-  <xacro:unless value="$(arg headless)">
-    <plugin
-      filename="gz-sim-scene-broadcaster-system"
-      name="gz::sim::systems::SceneBroadcaster">
-    </plugin>
-  </xacro:unless>
-    <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>
-
-    <light name='sun' type='directional'>
-        <cast_shadows>0</cast_shadows>
-        <pose>0 0 10 0 0 0</pose>
-        <diffuse>0.8 0.8 0.8 1</diffuse>
-        <specular>0.8 0.8 0.8 1</specular>
-        <attenuation>
-            <range>1000</range>
-            <constant>0.9</constant>
-            <linear>0.01</linear>
-            <quadratic>0.001</quadratic>
-        </attenuation>
-        <direction>-0.5 0.1 -0.9</direction>
-    </light>
-    <model name='ground_plane'>
-        <static>1</static>
-        <link name='link'>
-            <collision name='collision'>
-                <geometry>
-                    <plane>
-                        <normal>0 0 1</normal>
-                        <size>100 100</size>
-                    </plane>
-                </geometry>
-                <max_contacts>10</max_contacts>
-            </collision>
-            <visual name='visual'>
-                <geometry>
-                    <plane>
-                        <normal>0 0 1</normal>
-                        <size>100 100</size>
-                    </plane>
-                </geometry>
-                <material>
-                    <ambient>0.8 0.8 0.8 1</ambient>
-                    <diffuse>0.8 0.8 0.8 1</diffuse>
-                    <specular>0.8 0.8 0.8 1</specular>
-                </material>
-            </visual>
-        </link>
-    </model>
-
-    <scene>
-      <shadows>0</shadows>
-    </scene>
-
-    <physics name='1ms' type='ode'>
-        <max_step_size>0.001</max_step_size>
-        <real_time_factor>1</real_time_factor>
-        <real_time_update_rate>1000.0</real_time_update_rate>
-    </physics>
-
-    <model name="turtlebot3_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_world</uri>
-      </include>
-    </model>
-
-  </world>
-</sdf>
diff --git a/nav2_bringup/worlds/waffle.model b/nav2_bringup/worlds/waffle.model
deleted file mode 100644
index c0bdcac2e2d..00000000000
--- a/nav2_bringup/worlds/waffle.model
+++ /dev/null
@@ -1,504 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-    <model name="turtlebot3_waffle"> 
-      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
-
-      <link name="base_footprint"/>
-
-      <link name="base_link">
-
-        <inertial>
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-
-        <collision name="base_collision">
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.265 0.265 0.089</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <visual name="base_visual">
-          <pose>-0.064 0 0 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name="imu_link">
-        <sensor name="tb3_imu" type="imu">
-          <always_on>true</always_on>
-          <update_rate>200</update_rate>
-          <imu>
-            <angular_velocity>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </z>
-            </angular_velocity>
-            <linear_acceleration>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </z>
-            </linear_acceleration>
-          </imu>
-          <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
-            <initial_orientation_as_reference>false</initial_orientation_as_reference>
-            <ros>
-              <!-- <namespace>/tb3</namespace> -->
-              <remapping>~/out:=imu</remapping>
-            </ros>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="base_scan">
-        <inertial>
-          <pose>-0.064 0 0.121 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.125</mass>
-        </inertial>
-
-        <collision name="lidar_sensor_collision">
-          <pose>-0.052 0 0.111 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.0508</radius>
-              <length>0.055</length>
-            </cylinder>
-          </geometry>
-        </collision>
-
-        <visual name="lidar_sensor_visual">
-          <pose>-0.064 0 0.121 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/lds.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-
-        <sensor name="hls_lfcd_lds" type="ray">
-          <always_on>true</always_on>
-          <visualize>true</visualize>
-          <pose>-0.064 0 0.15 0 0 0</pose>
-          <update_rate>5</update_rate>
-          <ray>
-            <scan>
-              <horizontal>
-                <samples>360</samples>
-                <resolution>1.000000</resolution>
-                <min_angle>0.000000</min_angle>
-                <max_angle>6.280000</max_angle>
-              </horizontal>
-            </scan>
-            <range>
-              <min>0.00000</min>
-              <max>20.0</max>
-              <resolution>0.015000</resolution>
-            </range>
-            <noise>
-              <type>gaussian</type>
-              <mean>0.0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </ray>
-          <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
-            <ros>
-                <!-- <namespace>/tb3</namespace> -->
-                <remapping>~/out:=scan</remapping>
-            </ros>
-            <output_type>sensor_msgs/LaserScan</output_type>
-            <frame_name>base_scan</frame_name>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="wheel_left_link">
-
-        <inertial>
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.1</mass>
-        </inertial>
-
-        <collision name="wheel_left_collision">
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.033</radius>
-              <length>0.018</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <!-- This friction pamareter don't contain reliable data!! -->
-            <friction>
-              <ode>
-                <mu>100000.0</mu>
-                <mu2>100000.0</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0.0</slip1>
-                <slip2>0.0</slip2>
-              </ode>
-            </friction>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-
-        <visual name="wheel_left_visual">
-          <pose>0.0 0.144 0.023 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name="wheel_right_link">
-
-        <inertial>
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.1</mass>
-        </inertial>
-      
-        <collision name="wheel_right_collision">
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.033</radius>
-              <length>0.018</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <!-- This friction pamareter don't contain reliable data!! -->
-            <friction>
-              <ode>
-                <mu>100000.0</mu>
-                <mu2>100000.0</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0.0</slip1>
-                <slip2>0.0</slip2>
-              </ode>
-            </friction>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-
-        <visual name="wheel_right_visual">
-          <pose>0.0 -0.144 0.023 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name='caster_back_right_link'>
-        <pose>-0.177 -0.064 -0.004 0 0 0</pose>
-        <inertial>
-          <mass>0.001</mass>
-          <inertia>
-            <ixx>0.00001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.00001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.00001</izz>
-          </inertia>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.005000</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-
-      <link name='caster_back_left_link'>
-        <pose>-0.177 0.064 -0.004 0 0 0</pose>
-        <inertial>
-          <mass>0.001</mass>
-          <inertia>
-            <ixx>0.00001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.00001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.00001</izz>
-          </inertia>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.005000</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-
-      <link name="camera_link">
-        <inertial>
-          <pose>0.069 -0.047 0.107 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.035</mass>
-        </inertial>
-        <collision name="collision">
-          <pose>0 0.047 -0.005 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.130 0.022</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <pose>0.069 -0.047 0.107 0 0 0</pose>
-
-        <sensor name="intel_realsense_r200_depth" type="depth">
-          <always_on>1</always_on>
-          <update_rate>5</update_rate>
-          <pose>0.064 -0.047 0.107 0 0 0</pose>
-          <camera name="realsense_depth_camera">
-          </camera>
-          <plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
-            <ros>
-            </ros>
-            <camera_name>intel_realsense_r200_depth</camera_name>
-            <frame_name>camera_depth_frame</frame_name>
-            <hack_baseline>0.07</hack_baseline>
-            <min_depth>0.001</min_depth>
-            <max_depth>5.0</max_depth>
-          </plugin>
-        </sensor>
-
-        <collision name="collision">
-          <pose>0 0.047 -0.005 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.130 0.022</size>
-            </box>
-          </geometry>
-        </collision>
-        <pose>0.069 -0.047 0.107 0 0 0</pose>
-      </link>
-
-      <joint name="base_joint" type="fixed">
-        <parent>base_footprint</parent>
-        <child>base_link</child>
-        <pose>0.0 0.0 0.010 0 0 0</pose>
-      </joint>
-
-      <joint name="wheel_left_joint" type="revolute">
-        <parent>base_link</parent>
-        <child>wheel_left_link</child>
-        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="wheel_right_joint" type="revolute">
-        <parent>base_link</parent>
-        <child>wheel_right_link</child>
-        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name='caster_back_right_joint' type='ball'>
-        <parent>base_link</parent>
-        <child>caster_back_right_link</child>
-      </joint>
-
-      <joint name='caster_back_left_joint' type='ball'>
-        <parent>base_link</parent>
-        <child>caster_back_left_link</child>
-      </joint>
-
-      <joint name="lidar_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>base_scan</child>
-        <pose>-0.064 0 0.121 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="camera_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>camera_link</child>
-        <pose>0.064 -0.065 0.094 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
-
-        <ros>
-          <!-- <namespace>/tb3</namespace> -->
-          <!--since gazebo_plugins publish tf topic in global namespace /tf only and it
-            cannot be remapped like (namespace/tf) through launch arguments -->
-          <remapping>/tf:=tf</remapping>
-        </ros>
-
-        <update_rate>30</update_rate>
-
-        <!-- wheels -->
-        <left_joint>wheel_left_joint</left_joint>
-        <right_joint>wheel_right_joint</right_joint>
-
-        <!-- kinematics -->
-        <wheel_separation>0.287</wheel_separation>
-        <wheel_diameter>0.066</wheel_diameter>
-
-        <!-- limits -->
-        <max_wheel_torque>20</max_wheel_torque>
-        <max_wheel_acceleration>1.0</max_wheel_acceleration>
-
-        <command_topic>cmd_vel</command_topic>
-
-        <!-- output -->
-        <publish_odom>true</publish_odom>
-        <publish_odom_tf>true</publish_odom_tf>
-        <publish_wheel_tf>false</publish_wheel_tf>
-
-        <odometry_topic>odom</odometry_topic>
-        <odometry_frame>odom</odometry_frame>
-        <robot_base_frame>base_footprint</robot_base_frame>
-
-      </plugin>
-
-      <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
-        <ros>
-          <!-- <namespace>/tb3</namespace> -->
-            <remapping>~/out:=joint_states</remapping>
-        </ros>
-        <update_rate>30</update_rate>
-        <joint_name>wheel_left_joint</joint_name>
-        <joint_name>wheel_right_joint</joint_name>
-      </plugin>
-
-    </model>
-</sdf>
diff --git a/nav2_bringup/worlds/world_only.model b/nav2_bringup/worlds/world_only.model
deleted file mode 100644
index aed412a8d4f..00000000000
--- a/nav2_bringup/worlds/world_only.model
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
-
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0 0 10 0 1.570796 0</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <physics type="ode">
-      <real_time_update_rate>1000.0</real_time_update_rate>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>150</iters>
-          <precon_iters>0</precon_iters>
-          <sor>1.400000</sor>
-          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
-        </solver>
-        <constraints>
-          <cfm>0.00001</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
-          <contact_surface_layer>0.01000</contact_surface_layer>
-        </constraints>
-      </ode>
-    </physics>
-
-    <model name="turtlebot3_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_world</uri>
-      </include>
-    </model>
-
-  </world>
-</sdf>
diff --git a/tools/planner_benchmarking/planning_benchmark_bringup.py b/tools/planner_benchmarking/planning_benchmark_bringup.py
index 506ba544183..09bb1bbe756 100644
--- a/tools/planner_benchmarking/planning_benchmark_bringup.py
+++ b/tools/planner_benchmarking/planning_benchmark_bringup.py
@@ -26,7 +26,7 @@ def generate_launch_description():
     config = os.path.join(
         get_package_share_directory('nav2_bringup'), 'params', 'nav2_params.yaml'
     )
-    map_file = os.path.join(nav2_bringup_dir, 'maps', 'turtlebot3_world.yaml')
+    map_file = os.path.join(nav2_bringup_dir, 'maps', 'tb3_sandbox.yaml')
     lifecycle_nodes = ['map_server', 'planner_server']
 
     return LaunchDescription(
diff --git a/tools/underlay.repos b/tools/underlay.repos
index a0f6a83ae27..d26b075a3ea 100644
--- a/tools/underlay.repos
+++ b/tools/underlay.repos
@@ -7,10 +7,6 @@ repositories:
   #   type: git
   #   url: https://github.com/ros/angles.git
   #   version: ros2
-  # ros-simulation/gazebo_ros_pkgs:
-  #   type: git
-  #   url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-  #   version: ros2
   # ros-perception/vision_opencv:
   #   type: git
   #   url: https://github.com/ros-perception/vision_opencv.git
@@ -35,7 +31,7 @@ repositories:
   #   type: git
   #   url:  https://github.com/cra-ros-pkg/robot_localization.git
   #   version: ros2
-  # ros2/geometry2:
-  #   type: git
-  #   url: https://github.com/ros2/geometry2.git
-  #   version: rolling
+  ros-navigation/nav2_minimal_turtlebot_simulation:
+    type: git
+    url:  https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
+    version: main