diff --git a/src/cmp9767_tutorial/launch/limo_navigation_bringup.launch.py b/src/cmp9767_tutorial/launch/limo_navigation_bringup.launch.py
new file mode 100644
index 0000000..dc23398
--- /dev/null
+++ b/src/cmp9767_tutorial/launch/limo_navigation_bringup.launch.py
@@ -0,0 +1,99 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    # get package directory
+    pkg_dir = get_package_share_directory('limo_navigation') 
+
+    # Create the launch configuration variables
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    autostart = LaunchConfiguration('autostart')
+    map_yaml_file = LaunchConfiguration('map')
+    params_file = LaunchConfiguration('params_file')
+
+    lifecycle_nodes = [
+        # 'map_server',
+        # 'amcl',
+        'controller_server',
+        'planner_server',
+        'behavior_server',
+        'bt_navigator',
+        'waypoint_follower']
+
+    declare_namespace = DeclareLaunchArgument(
+        'namespace', default_value='',
+        description='Top-level namespace')
+
+    declare_use_sim_time = DeclareLaunchArgument(
+        'use_sim_time', default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_autostart = DeclareLaunchArgument(
+        'autostart', default_value='true',
+        description='Automatically startup the nav2 stack')
+
+    # declare_map = DeclareLaunchArgument(
+    #     'map',
+    #     default_value=os.path.join(pkg_dir, 'maps', 'simple_map.yaml'),
+    #     description='Full path to map yaml file to load')
+
+    declare_params_file = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(
+            pkg_dir, 'params', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use')
+
+    # launch_limo_localization = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(pkg_dir, 'launch', 'limo_localization.launch.py')),
+    #     launch_arguments={
+    #         'namespace': namespace,
+    #         'use_sim_time': use_sim_time,
+    #         'use_lifecycle_mgr': 'false',
+    #         'use_rviz': 'false',
+    #         'map': map_yaml_file,
+    #         'params_file': params_file,
+    #     }.items())
+
+    launch_limo_controller = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_dir, 'launch', 'limo_controller.launch.py')),
+        launch_arguments={
+            'namespace': namespace,
+            'use_sim_time': use_sim_time,
+            'use_lifecycle_mgr': 'false'
+        }.items())
+
+    start_lifecycle_mgr = Node(
+        package='nav2_lifecycle_manager',
+        executable='lifecycle_manager',
+        name='lifecycle_manager_navigation',
+        output='screen',
+        parameters=[{'use_sim_time': use_sim_time},
+                    {'autostart': autostart},
+                    {'node_names': lifecycle_nodes}])
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_use_sim_time)
+    ld.add_action(declare_autostart)
+    ld.add_action(declare_namespace)
+    # ld.add_action(declare_map)
+    ld.add_action(declare_params_file)
+
+    # ld.add_action(launch_limo_localization)
+    ld.add_action(launch_limo_controller)
+
+    ld.add_action(start_lifecycle_mgr)
+    
+    return ld
diff --git a/src/cmp9767_tutorial/launch/limo_simulation.launch.py b/src/cmp9767_tutorial/launch/limo_simulation.launch.py
new file mode 100644
index 0000000..dea37a0
--- /dev/null
+++ b/src/cmp9767_tutorial/launch/limo_simulation.launch.py
@@ -0,0 +1,257 @@
+
+ 
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.conditions import IfCondition, UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+
+ 
+def generate_launch_description():
+ 
+  # Constants for paths to different files and folders
+  urdf_model_name = 'limo_four_diff.gazebo'
+  world_file_name = 'simple.world'
+  rviz_config_file_name = 'urdf.rviz'
+
+  robot_name_in_model = 'limo_gazebosim'
+
+  # Pose where we want to spawn the robot
+  spawn_x_val = '0.0'
+  spawn_y_val = '0.0'
+  spawn_z_val = '0.0'
+  spawn_yaw_val = '0.00'
+ 
+  # Define the robots with their unique names and positions
+  robots = [
+    {'name': 'limo1', 'x': '0.0', 'y': '0.0', 'yaw': '0.0'},
+    # {'name': 'limo2', 'x': '1.0', 'y': '0.0', 'yaw': '0.0'}
+  ]
+  ############ You do not need to change anything below this line #############
+ 
+  # Set the path to different files and folders.  
+  pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros')   
+
+  default_urdf_model_path = os.path.join(
+    get_package_share_directory('limo_description'), 
+    'urdf',
+    urdf_model_name
+  )
+ 
+  world_path = os.path.join(
+    get_package_share_directory('limo_gazebosim'), 
+    'worlds',
+    world_file_name
+  )
+
+  gazebo_models_path = os.path.join(
+    get_package_share_directory('limo_gazebosim'), 
+    'models'
+  )
+  # os.environ["GAZEBO_MODEL_PATH"] = gazebo_models_path
+  local_models_path = os.path.join(
+    get_package_share_directory('cmp9767_tutorial'), 
+    'models'
+  )
+  os.environ["GAZEBO_MODEL_PATH"] = os.pathsep.join(filter(None, [gazebo_models_path, local_models_path]))
+
+
+  default_rviz_config_path = os.path.join(
+    get_package_share_directory('limo_gazebosim'), 
+    'rviz',
+    rviz_config_file_name
+  )
+
+ 
+  # Launch configuration variables specific to simulation
+  use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+  gui = LaunchConfiguration('gui')
+  headless = LaunchConfiguration('headless')
+  namespace = LaunchConfiguration('namespace')
+  rviz_config_file = LaunchConfiguration('rviz_config_file')
+  urdf_model = LaunchConfiguration('urdf_model')
+  use_namespace = LaunchConfiguration('use_namespace')
+  use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+  use_rviz = LaunchConfiguration('use_rviz')
+  use_simulator = LaunchConfiguration('use_simulator')
+  world = LaunchConfiguration('world')
+ 
+  remappings = [((namespace, '/tf'), '/tf'),
+                ((namespace, '/tf_static'), '/tf_static'),
+                ('/tf', 'tf'),
+                ('/tf_static', 'tf_static')]
+
+  # Declare the launch arguments  
+  declare_use_sim_time_cmd = DeclareLaunchArgument(
+    name='use_sim_time',
+    default_value='True',
+    description='Use simulation (Gazebo) clock if true')
+
+  declare_use_joint_state_publisher_cmd = DeclareLaunchArgument(
+    name='gui',
+    default_value='False',
+    description='Flag to enable joint_state_publisher_gui')
+ 
+  declare_namespace_cmd = DeclareLaunchArgument(
+    name='namespace',
+    default_value='',
+    description='Top-level namespace')
+ 
+  declare_use_namespace_cmd = DeclareLaunchArgument(
+    name='use_namespace',
+    default_value='False',
+    description='Whether to apply a namespace to the navigation stack')
+ 
+  declare_rviz_config_file_cmd = DeclareLaunchArgument(
+    name='rviz_config_file',
+    default_value=default_rviz_config_path,
+    description='Full path to the RVIZ config file to use')
+ 
+  declare_simulator_cmd = DeclareLaunchArgument(
+    name='headless',
+    default_value='False',
+    description='Whether to execute gzclient')
+ 
+  declare_urdf_model_path_cmd = DeclareLaunchArgument(
+    name='urdf_model', 
+    default_value=default_urdf_model_path, 
+    description='Absolute path to robot urdf file')
+ 
+  declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+    name='use_robot_state_pub',
+    default_value='True',
+    description='Whether to start the robot state publisher')
+ 
+  declare_use_rviz_cmd = DeclareLaunchArgument(
+    name='use_rviz',
+    default_value='False',
+    description='Whether to start RVIZ')
+ 
+  declare_use_simulator_cmd = DeclareLaunchArgument(
+    name='use_simulator',
+    default_value='True',
+    description='Whether to start the simulator')
+ 
+  declare_world_cmd = DeclareLaunchArgument(
+    name='world',
+    default_value=world_path,
+    description='Full path to the world model file to load')
+  
+  # start_dummy_sensors=Node(
+  #   package='dummy_sensors', 
+  #   node_executable='dummy_joint_states', 
+  #   output='screen')
+
+  # Launch RViz
+  start_rviz_cmd = Node(
+    condition=IfCondition(use_rviz),
+    package='rviz2',
+    executable='rviz2',
+    name='rviz2',
+    output='screen',
+    arguments=['-d', rviz_config_file])
+ 
+  # Start Gazebo server
+  start_gazebo_server_cmd = IncludeLaunchDescription(
+    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
+    condition=IfCondition(use_simulator),
+    launch_arguments={'world': world}.items())
+ 
+  # Start Gazebo client    
+  start_gazebo_client_cmd = IncludeLaunchDescription(
+    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')),
+    condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])))
+  twist_watchdog = Node(
+    package='limo_gazebosim',
+    executable='twist_watchdog.py',
+    name='twist_watchdog'
+  )
+  
+  ld = LaunchDescription()
+  # Declare the launch options
+  ld.add_action(declare_use_sim_time_cmd)
+  ld.add_action(declare_use_joint_state_publisher_cmd)
+  ld.add_action(declare_namespace_cmd)
+  ld.add_action(declare_use_namespace_cmd)
+  ld.add_action(declare_rviz_config_file_cmd)
+  ld.add_action(declare_simulator_cmd)
+  ld.add_action(declare_urdf_model_path_cmd)
+  ld.add_action(declare_use_robot_state_pub_cmd)  
+  ld.add_action(declare_use_rviz_cmd) 
+  ld.add_action(declare_use_simulator_cmd)
+  ld.add_action(declare_world_cmd)
+ 
+  # Add any actions
+  ld.add_action(start_gazebo_server_cmd)
+  ld.add_action(start_gazebo_client_cmd)
+  
+  ld.add_action(start_rviz_cmd)
+  ld.add_action(twist_watchdog)
+  
+  # Launch the robot
+#   remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
+  for robot in robots:
+    ns = robot['name']
+    
+    remappings = [((ns, '/tf'), '/tf'),
+                ((ns, '/tf_static'), '/tf_static'),
+                ('/tf', 'tf'),
+                ('/tf_static', 'tf_static')]
+    spawn_entity_cmd = Node(
+        package='gazebo_ros', 
+        executable='spawn_entity.py',
+        arguments=['-entity', robot['name'],
+                        '-x', robot['x'],
+                        '-y', robot['y'],
+                        '-z', spawn_z_val,
+                        '-Y', robot['yaw'],
+                        '-topic', 'robot_description',
+                        '-robot_namespace', ns],
+        output='screen')
+        # arguments=['-entity', robot_name_in_model, 
+        #             '-topic', 'robot_description',
+        #                 '-x', spawn_x_val,
+        #                 '-y', spawn_y_val,
+        #                 '-z', spawn_z_val,
+        #                 '-Y', spawn_yaw_val],
+        #                 output='screen')
+        
+    # Subscribe to the joint states of the robot, and publish the 3D pose of each link.    
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        namespace=ns,
+        parameters=[{'robot_description': Command(['xacro ', urdf_model]),'use_sim_time': use_sim_time}],
+                remappings=remappings,
+                output='screen'
+        )
+      # Publish the joint states of the robot
+    start_joint_state_publisher_cmd = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        namespace=ns,
+        name='joint_state_publisher',
+        condition=UnlessCondition(gui),
+        parameters=[{'use_sim_time': use_sim_time}],
+                remappings=remappings,
+                output='screen'
+        )
+        
+    
+    # Add actions to the launch description
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(start_joint_state_publisher_cmd)
+    ld.add_action(spawn_entity_cmd)
+    
+
+
+  # Create the launch description and populate
+ 
+ 
+  
+ 
+  return ld
\ No newline at end of file
diff --git a/src/cmp9767_tutorial/launch/limo_simulation_multi.launch.py b/src/cmp9767_tutorial/launch/limo_simulation_multi.launch.py
new file mode 100644
index 0000000..5b1fa5f
--- /dev/null
+++ b/src/cmp9767_tutorial/launch/limo_simulation_multi.launch.py
@@ -0,0 +1,215 @@
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition, UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    # Constants for paths to different files and folders
+    urdf_model_name = 'limo_four_diff.gazebo'
+    world_file_name = 'simple.world'
+    rviz_config_file_name = 'urdf.rviz'
+
+    robot_name_in_model = 'limo_gazebosim'
+
+    # Pose where we want to spawn the robots
+    spawn_z_val = '0.0'
+
+    ############ You do not need to change anything below this line #############
+
+    # Set the path to different files and folders.
+    pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros')
+
+    default_urdf_model_path = os.path.join(
+        get_package_share_directory('limo_description'),
+        'urdf',
+        urdf_model_name
+    )
+
+    world_path = os.path.join(
+        get_package_share_directory('limo_gazebosim'),
+        'worlds',
+        world_file_name
+    )
+
+    gazebo_models_path = os.path.join(
+        get_package_share_directory('limo_gazebosim'),
+        'models'
+    )
+    os.environ["GAZEBO_MODEL_PATH"] = gazebo_models_path
+
+    default_rviz_config_path = os.path.join(
+        get_package_share_directory('limo_gazebosim'),
+        'rviz',
+        rviz_config_file_name
+    )
+
+    # Launch configuration variables specific to simulation
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    gui = LaunchConfiguration('gui')
+    headless = LaunchConfiguration('headless')
+    namespace = LaunchConfiguration('namespace')
+    rviz_config_file = LaunchConfiguration('rviz_config_file')
+    urdf_model = LaunchConfiguration('urdf_model')
+    use_namespace = LaunchConfiguration('use_namespace')
+    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+    use_rviz = LaunchConfiguration('use_rviz')
+    use_simulator = LaunchConfiguration('use_simulator')
+    world = LaunchConfiguration('world')
+
+    # Declare the launch arguments
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        name='use_sim_time',
+        default_value='True',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_use_joint_state_publisher_cmd = DeclareLaunchArgument(
+        name='gui',
+        default_value='False',
+        description='Flag to enable joint_state_publisher_gui')
+    
+    declare_namespace_cmd = DeclareLaunchArgument(
+        name='namespace',
+        default_value='',
+        description='Top-level namespace')
+    
+    declare_use_namespace_cmd = DeclareLaunchArgument(
+        name='use_namespace',
+        default_value='True',
+        description='Whether to apply a namespace to the navigation stack')
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        name='rviz_config_file',
+        default_value=default_rviz_config_path,
+        description='Full path to the RVIZ config file to use')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        name='headless',
+        default_value='False',
+        description='Whether to execute gzclient')
+
+    declare_urdf_model_path_cmd = DeclareLaunchArgument(
+        name='urdf_model',
+        default_value=default_urdf_model_path,
+        description='Absolute path to robot urdf file')
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        name='use_rviz',
+        default_value='False',
+        description='Whether to start RVIZ')
+
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        name='use_simulator',
+        default_value='True',
+        description='Whether to start the simulator')
+
+    declare_world_cmd = DeclareLaunchArgument(
+        name='world',
+        default_value=world_path,
+        description='Full path to the world model file to load')
+
+    # Start Gazebo server
+    start_gazebo_server_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
+        condition=IfCondition(use_simulator),
+        launch_arguments={'world': world}.items())
+
+    # Start Gazebo client
+    start_gazebo_client_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')),
+        condition=IfCondition(
+            PythonExpression([use_simulator, ' and not ', headless])))
+
+    twist_watchdog = Node(
+        package='limo_gazebosim',
+        executable='twist_watchdog.py',
+        name='twist_watchdog'
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_use_joint_state_publisher_cmd)
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_namespace_cmd)
+    ld.add_action(declare_rviz_config_file_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(declare_urdf_model_path_cmd)
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_use_simulator_cmd)
+    ld.add_action(declare_world_cmd)
+    ld.add_action(twist_watchdog)
+
+    # Add actions to launch Gazebo
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+
+    # Define the robots with their unique names and positions
+    robots = [
+        {'name': 'limo1', 'x': '0.0', 'y': '0.0', 'yaw': '0.0'},
+        # {'name': 'limo2', 'x': '1.0', 'y': '0.0', 'yaw': '0.0'}
+    ]
+
+    # Loop through each robot and launch the required nodes
+    for robot in robots:
+        ns = robot['name']
+
+        # Start robot state publisher
+        start_robot_state_publisher_cmd = Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            namespace=ns,
+            parameters=[{'robot_description': Command(['xacro ', urdf_model]),
+                         'use_sim_time': use_sim_time}],
+        )
+
+        # Start joint state publisher
+        start_joint_state_publisher_cmd = Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            namespace=ns,
+            name='joint_state_publisher',
+            condition=UnlessCondition(gui),
+            parameters=[{'use_sim_time': use_sim_time}],
+        )
+
+        # Spawn the robot in Gazebo
+        spawn_entity_cmd = Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-entity', robot['name'],
+                       '-x', robot['x'],
+                       '-y', robot['y'],
+                       '-z', spawn_z_val,
+                       '-Y', robot['yaw'],
+                       '-topic', 'robot_description',
+                       '-robot_namespace', ns],
+            output='screen'
+        )
+
+        # Add actions to the launch description
+        ld.add_action(start_robot_state_publisher_cmd)
+        ld.add_action(start_joint_state_publisher_cmd)
+        ld.add_action(spawn_entity_cmd)
+
+    # Launch RViz
+    start_rviz_cmd = Node(
+        condition=IfCondition(use_rviz),
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', rviz_config_file])
+
+    ld.add_action(start_rviz_cmd)
+
+    return ld
diff --git a/src/cmp9767_tutorial/models/fire_extinguisher/model.config b/src/cmp9767_tutorial/models/fire_extinguisher/model.config
new file mode 100644
index 0000000..e840c8d
--- /dev/null
+++ b/src/cmp9767_tutorial/models/fire_extinguisher/model.config
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<model>
+  <name>fire_extinguisher</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author><name>CMP9767</name></author>
+  <description>Simple red cylinder stand-in</description>
+</model>
diff --git a/src/cmp9767_tutorial/models/fire_extinguisher/model.sdf b/src/cmp9767_tutorial/models/fire_extinguisher/model.sdf
new file mode 100644
index 0000000..d164169
--- /dev/null
+++ b/src/cmp9767_tutorial/models/fire_extinguisher/model.sdf
@@ -0,0 +1,14 @@
+<!-- models/fire_extinguisher/model.sdf -->
+<sdf version="1.6">
+  <model name="fire_extinguisher"><static>true</static>
+    <link name="body"><pose>0 0 0.35 0 0 0</pose>
+      <collision name="col">
+        <geometry><cylinder><radius>0.06</radius><length>0.45</length></cylinder></geometry>
+      </collision>
+      <visual name="vis">
+        <geometry><cylinder><radius>0.06</radius><length>0.45</length></cylinder></geometry>
+        <material><ambient>0.8 0 0 1</ambient><diffuse>0.8 0 0 1</diffuse></material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/cmp9767_tutorial/models/first_aid_kit/model.config b/src/cmp9767_tutorial/models/first_aid_kit/model.config
new file mode 100644
index 0000000..d7f43e5
--- /dev/null
+++ b/src/cmp9767_tutorial/models/first_aid_kit/model.config
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<model>
+  <name>first_aid_kit</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author><name>CMP9767</name></author>
+  <description>Green box</description>
+</model>
diff --git a/src/cmp9767_tutorial/models/first_aid_kit/model.sdf b/src/cmp9767_tutorial/models/first_aid_kit/model.sdf
new file mode 100644
index 0000000..be54e3e
--- /dev/null
+++ b/src/cmp9767_tutorial/models/first_aid_kit/model.sdf
@@ -0,0 +1,12 @@
+<!-- models/first_aid_kit/model.sdf -->
+<sdf version="1.6">
+  <model name="first_aid_kit"><static>true</static>
+    <link name="box"><pose>0 0 0.07 0 0 0</pose>
+      <collision name="col"><geometry><box><size>0.28 0.18 0.14</size></box></geometry></collision>
+      <visual name="vis">
+        <geometry><box><size>0.28 0.18 0.14</size></box></geometry>
+        <material><ambient>0 0.5 0 1</ambient><diffuse>0 0.5 0 1</diffuse></material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/cmp9767_tutorial/params/nav2_params.yaml b/src/cmp9767_tutorial/param/nav2_params.yaml
similarity index 100%
rename from src/cmp9767_tutorial/params/nav2_params.yaml
rename to src/cmp9767_tutorial/param/nav2_params.yaml
diff --git a/src/cmp9767_tutorial/setup.py b/src/cmp9767_tutorial/setup.py
index 1051024..749ff9b 100644
--- a/src/cmp9767_tutorial/setup.py
+++ b/src/cmp9767_tutorial/setup.py
@@ -1,5 +1,5 @@
 from setuptools import find_packages, setup
-import os
+from os import path
 from glob import glob
 
 package_name = 'cmp9767_tutorial'
@@ -12,7 +12,14 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name), glob('launch/*launch.py')),
+        (path.join('share', package_name, 'launch'), glob(path.join('launch', '*launch.[pxy][yma]*'))),
+        (path.join('share', package_name, 'config'), glob(path.join('config', '*.yaml'))),
+        (path.join('share', package_name, 'param'), glob(path.join('param', '*.yaml'))),
+        (path.join('share', package_name, 'urdf'), glob(path.join('urdf', 'tidybot.*'))),
+        (path.join('share', package_name, 'worlds'), glob(path.join('worlds', '*.world'))),
+        (path.join('share', package_name, 'models', 'fire_extinguisher'), glob(path.join('models', 'fire_extinguisher', 'model.*'))),
+        (path.join('share', package_name, 'models', 'first_aid_kit'), glob(path.join('models', 'first_aid_kit', 'model.*'))),
+        (path.join('share', package_name, 'meshes'), glob(path.join('meshes', '*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,