diff --git a/README.md b/README.md
index b7446b8..3e35919 100644
--- a/README.md
+++ b/README.md
@@ -128,3 +128,13 @@ BUENOS DIAS :)
 ADIOS 
 hola willy
 HOla reyes
+
+feliz cumpleaños willy
+GOLFITO
+Paso por ti a las 2 ve arreglandote ;)
+
+Feliz cumpleaños willito :)
+Buena willito kchon
+
+
+nn
diff --git a/Reyes_Pa/Reyes_Pa/Fino.py b/Reyes_Pa/Reyes_Pa/Fino.py
new file mode 100644
index 0000000..6a25f89
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/Fino.py
@@ -0,0 +1,39 @@
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class MinimalPublisher(Node):
+
+    def __init__(self):
+        super().__init__('Nodo_Reyes')
+        self.publisher_ = self.create_publisher(String, 'RPM', 10)
+        timer_period = 0.5  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = str(3)
+        self.publisher_.publish(msg)
+        self.get_logger().info('Publishing: "%s"' % msg.data)
+        self.i += 1
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_publisher = MinimalPublisher()
+
+    rclpy.spin(minimal_publisher)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/Reyes_Pa/Reyes_Pa/JACHAS.jpg b/Reyes_Pa/Reyes_Pa/JACHAS.jpg
new file mode 100644
index 0000000..588f02c
Binary files /dev/null and b/Reyes_Pa/Reyes_Pa/JACHAS.jpg differ
diff --git a/Reyes_Pa/Reyes_Pa/MELOO.jpg b/Reyes_Pa/Reyes_Pa/MELOO.jpg
new file mode 100644
index 0000000..049261f
Binary files /dev/null and b/Reyes_Pa/Reyes_Pa/MELOO.jpg differ
diff --git a/Reyes_Pa/Reyes_Pa/P1_EnvFoto.py b/Reyes_Pa/Reyes_Pa/P1_EnvFoto.py
new file mode 100644
index 0000000..fe67643
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/P1_EnvFoto.py
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+
+import cv2
+import numpy as np
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+class ImagePublisher(Node):
+
+    def __init__(self):
+        super().__init__('image_publisher')
+        self.publisher_ = self.create_publisher(Image, 'ALO', 10)
+        self.timer_ = self.create_timer(0.1, self.publish_image)
+        self.bridge_ = CvBridge()
+
+    def publish_image(self):
+        # Creamos una imagen de 640x480 píxeles con tres canales (BGR)
+        image = np.zeros((480, 640, 3), np.uint8)
+        # Dibujamos un círculo azul en el centro de la imagen
+        cv2.circle(image, (320, 240), 100, (255, 0, 0), -1)
+        # Convertimos la imagen a un mensaje de ROS
+        msg = self.bridge_.cv2_to_imgmsg(image, 'bgr8')
+        # Publicamos el mensaje
+        self.publisher_.publish(msg)
+        self.get_logger().info('Imagen publicada')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ImagePublisher()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
diff --git a/Reyes_Pa/Reyes_Pa/P1_RecFoto.py b/Reyes_Pa/Reyes_Pa/P1_RecFoto.py
new file mode 100644
index 0000000..ea1ce42
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/P1_RecFoto.py
@@ -0,0 +1,29 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+
+
+class ImageSubscriber(Node):
+
+    def __init__(self):
+        super().__init__('image_subscriber')
+        self.subscription = self.create_subscription(
+            Image,
+            'ALO',
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        self.get_logger().info('Received an image!')  # add your own code here to process the image data
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ImageSubscriber()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/Reyes_Pa/Reyes_Pa/P2_EnvFoto.py b/Reyes_Pa/Reyes_Pa/P2_EnvFoto.py
new file mode 100644
index 0000000..576d454
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/P2_EnvFoto.py
@@ -0,0 +1,29 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+
+class ImagePublisher(Node):
+
+    def __init__(self):
+        super().__init__('image_publisher')
+        self.publisher_ = self.create_publisher(Image, 'ALO', 10)
+        self.timer = self.create_timer(0.1, self.timer_callback)
+        self.bridge = CvBridge()
+
+    def timer_callback(self):
+        img = cv2.imread('/home/z3rn291/poderoso/src/Reyes_Pa/Reyes_Pa/JACHAS.jpg')
+        msg = self.bridge.cv2_to_imgmsg(img, encoding='bgr8')
+        self.publisher_.publish(msg)
+        self.get_logger().info('Image published!')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ImagePublisher()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
diff --git a/Reyes_Pa/Reyes_Pa/Prueba.py b/Reyes_Pa/Reyes_Pa/Prueba.py
new file mode 100644
index 0000000..830dade
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/Prueba.py
@@ -0,0 +1,31 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+
+class MiNodo(Node):
+
+    def __init__(self):
+        super().__init__('ReyesN')
+        self.subscription = self.create_subscription(Image, 'ALO', self.imagen_callback, 10)
+        self.cv_bridge = CvBridge()
+
+    def imagen_callback(self, msg):
+        # convierte el mensaje de imagen en una matriz numpy utilizando cv_bridge
+        imagen = self.cv_bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+        
+        # muestra la imagen en una ventana de OpenCV
+        cv2.imshow('Imagen recibida', imagen)
+        cv2.waitKey(1)
+
+def main(args=None):
+    rclpy.init(args=args)
+    mi_nodo = MiNodo()
+    rclpy.spin(mi_nodo)
+    mi_nodo.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/Reyes_Pa/Reyes_Pa/T1_PubRPM.py b/Reyes_Pa/Reyes_Pa/T1_PubRPM.py
new file mode 100644
index 0000000..236f178
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/T1_PubRPM.py
@@ -0,0 +1,39 @@
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class MinimalPublisher(Node):
+
+    def __init__(self):
+        super().__init__('CR_T1_PUBRPM')
+        self.publisher_ = self.create_publisher(String, 'RPM', 10)
+        timer_period = 0.5  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = str(3)
+        self.publisher_.publish(msg)
+        self.get_logger().info('Publishing: "%s"' % msg.data)
+        self.i += 1
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_publisher = MinimalPublisher()
+
+    rclpy.spin(minimal_publisher)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/Reyes_Pa/Reyes_Pa/T1_PubSub.py b/Reyes_Pa/Reyes_Pa/T1_PubSub.py
new file mode 100644
index 0000000..eb5915c
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/T1_PubSub.py
@@ -0,0 +1,39 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+class MyNode(Node):
+
+    def __init__(self):
+        super().__init__('willypoder')
+        self.declare_parameter('Radio', 0.10)
+        sub_topic = self.get_parameter('Radio').value
+        self.publisher_ = self.create_publisher(String, 'lineal_speed', 10)
+        self.subscription = self.create_subscription(
+            String,
+            'RPM',
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        #self.get_logger().info('I heard: "%s"' % msg.data)
+        Radio = self.get_parameter('Radio').value
+
+        numin=(float(msg.data)/60)*2*3.141516*Radio
+        print(numin)
+        msg.data=str(numin)
+        self.publisher_.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    my_node = MyNode()
+
+    rclpy.spin(my_node)
+
+    my_node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/Reyes_Pa/Reyes_Pa/T1_SubLinSpeed.py b/Reyes_Pa/Reyes_Pa/T1_SubLinSpeed.py
new file mode 100644
index 0000000..9b39479
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/T1_SubLinSpeed.py
@@ -0,0 +1,36 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+
+class MinimalSubscriber(Node):
+
+    def __init__(self):
+        super().__init__('CR_T1_SubLinSpeed')
+        self.subscription = self.create_subscription(
+            String,
+            'lineal_speed',
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        self.get_logger().info('I heard: "%s"' % msg.data)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_subscriber = MinimalSubscriber()
+
+    rclpy.spin(minimal_subscriber)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_subscriber.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/Reyes_Pa/Reyes_Pa/T2_Cliente.py b/Reyes_Pa/Reyes_Pa/T2_Cliente.py
new file mode 100644
index 0000000..f416beb
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/T2_Cliente.py
@@ -0,0 +1,29 @@
+import rclpy
+from rclpy.node import Node
+from example_interfaces.srv import AddTwoInts
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = rclpy.create_node('minimal_client')
+
+    client = node.create_client(AddTwoInts, 'add_two_ints')
+    while not client.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('service not available, waiting again...')
+    request = AddTwoInts.Request()
+    request.a = 3
+    request.b = 1
+    future = client.call_async(request)
+    rclpy.spin_until_future_complete(node, future)
+    if future.result() is not None:
+        response = future.result()
+        node.get_logger().info('Result of add_two_ints: %d' % (response.sum,))
+    else:
+        node.get_logger().info('Service call failed %r' % (future.exception(),))
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/Reyes_Pa/Reyes_Pa/T2_Cliente1.py b/Reyes_Pa/Reyes_Pa/T2_Cliente1.py
new file mode 100644
index 0000000..18269a0
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/T2_Cliente1.py
@@ -0,0 +1,43 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from lolito_interfaces.srv import CaptureImage
+
+
+class Client(Node):
+
+    def __init__(self):
+        super().__init__('client_node')
+        self.client = self.create_client(CaptureImage, 'capture_image')
+        while not self.client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Servidor no disponible')
+        self.request = CaptureImage.Request()
+
+    def send_request(self):
+        self.request.req = True
+        self.future = self.client.call_async(self.request)
+
+    def get_response(self):
+        while rclpy.ok():
+            rclpy.spin_once(self)
+            if self.future.done():
+                try:
+                    response = self.future.result()
+                    img_data = response.my_image
+                    # Aquí puedes hacer lo que necesites con la imagen recibida
+                    break
+                except Exception as e:
+                    self.get_logger().info('Servicio fallido %r' % (e,))
+                    break
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    client = Client()
+    client.send_request()
+    client.get_response()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/Reyes_Pa/Reyes_Pa/T2_Servidor.py b/Reyes_Pa/Reyes_Pa/T2_Servidor.py
new file mode 100644
index 0000000..99c782d
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/T2_Servidor.py
@@ -0,0 +1,28 @@
+import rclpy
+from rclpy.node import Node
+from example_interfaces.srv import AddTwoInts
+
+class MinimalService(Node):
+
+    def __init__(self):
+        super().__init__('minimal_service')
+        self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.add_two_ints_callback)
+
+    def add_two_ints_callback(self, request, response):
+        response.sum = request.a + request.b
+        self.get_logger().info('Incoming request\na: %d b: %d' % (request.a, request.b))
+        return response
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_service = MinimalService()
+
+    rclpy.spin(minimal_service)
+
+    minimal_service.destroy()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/Reyes_Pa/Reyes_Pa/T2_Servidor1.py b/Reyes_Pa/Reyes_Pa/T2_Servidor1.py
new file mode 100644
index 0000000..06042b0
--- /dev/null
+++ b/Reyes_Pa/Reyes_Pa/T2_Servidor1.py
@@ -0,0 +1,55 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from lolito_interfaces.srv import CaptureImage
+
+
+class ImageCaptureServer(Node):
+    def __init__(self):
+        super().__init__('image_capture_server')
+        self.srv = self.create_service(CaptureImage, 'capture_image', self.capture_image_callback)
+
+    def capture_image_callback(self, request, response):
+        # Aquí es donde capturamos la imagen y la enviamos como respuesta
+        image = self.capture_image()
+        response.my_image = image
+        return response
+
+    def capture_image(self):
+        # En este ejemplo, utilizamos la biblioteca OpenCV para capturar la imagen
+        import cv2
+
+        # Capturamos la imagen de la cámara web
+        cap = cv2.VideoCapture(0)
+        _, frame = cap.read()
+
+        # Convertimos la imagen capturada a un mensaje ROS
+        msg = Image()
+        msg.header.frame_id = 'camera'
+        msg.encoding = 'bgr8'
+        msg.height, msg.width, _ = frame.shape
+        msg.step = 3 * msg.width
+        msg.data = frame.tobytes()
+
+        # Liberamos la cámara web
+        cap.release()
+
+        return msg
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = ImageCaptureServer()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/Reyes_Pa/Reyes_Pa/__init__.py b/Reyes_Pa/Reyes_Pa/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/Reyes_Pa/launch/Prueba.launch.py b/Reyes_Pa/launch/Prueba.launch.py
new file mode 100644
index 0000000..e918651
--- /dev/null
+++ b/Reyes_Pa/launch/Prueba.launch.py
@@ -0,0 +1,20 @@
+import launch
+import launch_ros.actions
+import launch_ros.substitutions
+
+def generate_launch_description():
+    node1 = launch_ros.actions.Node(
+        package='Reyes_Pa',
+        executable='P1E',
+        name='nodo1'
+    )
+    node2 = launch_ros.actions.Node(
+        package='Reyes_Pa',
+        executable='P1R',
+        name='nodo2'
+    )
+
+    return launch.LaunchDescription([
+        node1,
+        node2
+    ])
\ No newline at end of file
diff --git a/Reyes_Pa/launch/Union.launch.py b/Reyes_Pa/launch/Union.launch.py
new file mode 100644
index 0000000..b45a6d6
--- /dev/null
+++ b/Reyes_Pa/launch/Union.launch.py
@@ -0,0 +1,26 @@
+import launch
+import launch_ros.actions
+import launch_ros.substitutions
+
+def generate_launch_description():
+    node1 = launch_ros.actions.Node(
+        package='Reyes_Pa',
+        executable='RPM',
+        name='nodo1'
+    )
+    node2 = launch_ros.actions.Node(
+        package='Reyes_Pa',
+        executable='SupPub',
+        name='nodo2'
+    )
+    node3 = launch_ros.actions.Node(
+        package='Reyes_Pa',
+        executable='LinSpeed',
+        name='nodo3'
+    )
+
+    return launch.LaunchDescription([
+        node1,
+        node2,
+        node3
+    ])
\ No newline at end of file
diff --git a/Reyes_Pa/launch/lolo.launch.py b/Reyes_Pa/launch/lolo.launch.py
new file mode 100644
index 0000000..cd0ebcd
--- /dev/null
+++ b/Reyes_Pa/launch/lolo.launch.py
@@ -0,0 +1,54 @@
+import launch
+from launch.substitutions import Command, LaunchConfiguration
+import launch_ros
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    urdf_file_name = 'Seguidor_linea_robot.urdf'
+    urdf = os.path.join(
+        get_package_share_directory('Reyes_Pa'),
+        'urdf',
+        urdf_file_name)
+    with open(urdf, 'r') as infp:
+        robot_desc = infp.read()
+
+
+    robot_state_publisher_node = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[{'robot_description': robot_desc}],
+        arguments=[urdf]
+    )
+    joint_state_publisher_node = launch_ros.actions.Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
+    )
+    joint_state_publisher_gui_node = launch_ros.actions.Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui',
+        condition=launch.conditions.IfCondition(LaunchConfiguration('gui'))
+    )
+    rviz_node = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+    )
+
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
+                                             description='Flag to enable joint_state_publisher_gui'),
+
+        joint_state_publisher_node,
+        joint_state_publisher_gui_node,
+        robot_state_publisher_node,
+        rviz_node
+    ])
\ No newline at end of file
diff --git a/Reyes_Pa/launch/n.launch.py b/Reyes_Pa/launch/n.launch.py
new file mode 100644
index 0000000..d383858
--- /dev/null
+++ b/Reyes_Pa/launch/n.launch.py
@@ -0,0 +1,26 @@
+import launch
+import launch_ros.actions
+import launch_ros.substitutions
+
+def generate_launch_description():
+    node1 = launch_ros.actions.Node(
+        package='Reyes_Pa',
+        executable='F',
+        name='nodo1'
+    )
+    node2 = launch_ros.actions.Node(
+        package='Reyes_Pa',
+        executable='P1E',
+        name='nodo2'
+    )
+    node3 = launch_ros.actions.Node(
+        package='Reyes_Pa',
+        executable='hola',
+        name='nodo3'
+    )
+
+    return launch.LaunchDescription([
+        node1,
+        node2,
+        node3
+    ])
\ No newline at end of file
diff --git a/Reyes_Pa/package.xml b/Reyes_Pa/package.xml
new file mode 100644
index 0000000..6013c49
--- /dev/null
+++ b/Reyes_Pa/package.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>Reyes_Pa</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="u7003510@unimilitar.edu.co">z3rn291</maintainer>
+  <license>Apache License 2.0</license>
+  
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <build_depend>cv_bridge</build_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <build_depend>image_transport</build_depend>
+  <exec_depend>image_transport</exec_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <build_depend>OpenCV</build_depend>
+  <exec_depend>OpenCV</exec_depend>
+
+  <build_depend>lolito_interfaces</build_depend>
+  <exec_depend>lolito_interfaces</exec_depend>
+  
+  
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/Reyes_Pa/resource/Reyes_Pa b/Reyes_Pa/resource/Reyes_Pa
new file mode 100644
index 0000000..e69de29
diff --git a/Reyes_Pa/setup.cfg b/Reyes_Pa/setup.cfg
new file mode 100644
index 0000000..7b4a3d5
--- /dev/null
+++ b/Reyes_Pa/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/Reyes_Pa
+[install]
+install_scripts=$base/lib/Reyes_Pa
diff --git a/Reyes_Pa/setup.py b/Reyes_Pa/setup.py
new file mode 100644
index 0000000..0d11bec
--- /dev/null
+++ b/Reyes_Pa/setup.py
@@ -0,0 +1,61 @@
+from setuptools import setup
+#######
+import os
+from glob import glob
+from setuptools import setup
+from setuptools import find_packages
+##########
+
+
+package_name = 'Reyes_Pa'
+#############
+package_files = [
+    'launch/Prueba.launch.py',
+    'launch/Union.launch.py',
+]
+####
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        #COLOQUE NUEVO 
+        #('share/' + package_name, package_files),
+        #('share/' + package_name + '/launch', package_files),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+        #######nuevo_robot
+        (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
+        (os.path.join('share', package_name, 'meshes'), glob('meshes/*')),
+        (os.path.join('share', package_name, 'worlds'), glob('worlds/*')),
+
+    
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='z3rn291',
+    maintainer_email='u7003510@unimilitar.edu.co',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'talker = Reyes_Pa.Fino:main',
+            'RPM = Reyes_Pa.T1_PubRPM:main',
+            'SupPub = Reyes_Pa.T1_PubSub:main',
+            'LinSpeed = Reyes_Pa.T1_SubLinSpeed:main',
+            'hola = Reyes_Pa.Prueba:main',
+            'P1E = Reyes_Pa.P1_EnvFoto:main',
+            'P1R = Reyes_Pa.P1_RecFoto:main',
+            'F = Reyes_Pa.P2_EnvFoto:main',
+            'S = Reyes_Pa.T2_Servidor1:main',
+            'C = Reyes_Pa.T2_Cliente1:main',
+        ],
+        
+    },
+)
+
+
+
diff --git a/Reyes_Pa/test/test_copyright.py b/Reyes_Pa/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/Reyes_Pa/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/Reyes_Pa/test/test_flake8.py b/Reyes_Pa/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/Reyes_Pa/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/Reyes_Pa/test/test_pep257.py b/Reyes_Pa/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/Reyes_Pa/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/henry_pkg/henry_pkg/cuadrado_robot_node.py b/henry_pkg/henry_pkg/cuadrado_robot_node.py
new file mode 100644
index 0000000..fc1ff53
--- /dev/null
+++ b/henry_pkg/henry_pkg/cuadrado_robot_node.py
@@ -0,0 +1,34 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from math import pi
+
+
+class CuadradoRobotNode(Node):
+    def __init__(self):
+        super().__init__('cuadrado_robot_node')
+        self.publisher_ = self.create_publisher(Twist, '/cmd_vel', 10)
+        self.timer_ = self.create_timer(1.0, self.publish_twist)
+        self.counter_ = 0
+
+    def publish_twist(self):
+        twist = Twist()
+        twist.linear.x = 0.2
+        twist.angular.z = 0.0
+        if self.counter_ % 4 == 0:
+            twist.linear.x = 0.0
+            twist.angular.z = pi/2
+        self.publisher_.publish(twist)
+        self.counter_ += 1
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CuadradoRobotNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/henry_pkg/henry_pkg/server.py b/henry_pkg/henry_pkg/server.py
new file mode 100644
index 0000000..cfd482f
--- /dev/null
+++ b/henry_pkg/henry_pkg/server.py
@@ -0,0 +1,55 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from lolito_interfaces.srv import CaptureImage
+
+
+class ImageCaptureServer(Node):
+    def __init__(self):
+        super().__init__('image_capture_server')
+        self.srv = self.create_service(CaptureImage, 'capture_image', self.capture_image_callback)
+
+    def capture_image_callback(self, request, response):
+        # Aquí es donde capturamos la imagen y la enviamos como respuesta
+        image = self.capture_image()
+        response.image = image
+        return response
+
+    def capture_image(self):
+        # En este ejemplo, utilizamos la biblioteca OpenCV para capturar la imagen
+        import cv2
+
+        # Capturamos la imagen de la cámara web
+        cap = cv2.VideoCapture(0)
+        _, frame = cap.read()
+
+        # Convertimos la imagen capturada a un mensaje ROS
+        msg = Image()
+        msg.header.frame_id = 'camera'
+        msg.encoding = 'bgr8'
+        msg.height, msg.width, _ = frame.shape
+        msg.step = 3 * msg.width
+        msg.data = frame.tobytes()
+
+        # Liberamos la cámara web
+        cap.release()
+
+        return msg
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = ImageCaptureServer()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/henry_pkg/package.xml b/henry_pkg/package.xml
index 5bc66fc..abad098 100644
--- a/henry_pkg/package.xml
+++ b/henry_pkg/package.xml
@@ -9,8 +9,17 @@
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+
 
   <test_depend>ament_copyright</test_depend>
+  
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
diff --git a/henry_pkg/setup.py b/henry_pkg/setup.py
index cf51f02..a3dc297 100644
--- a/henry_pkg/setup.py
+++ b/henry_pkg/setup.py
@@ -21,6 +21,7 @@
     entry_points={
         'console_scripts': [
             'talker = henry_pkg.my_pub:main',
+            'imageServer = henry_pkg.server:main',
         ],
     },
 )
diff --git a/lolito/CMakeLists.txt b/lolito/CMakeLists.txt
index 0d8df9a..7c406e1 100644
--- a/lolito/CMakeLists.txt
+++ b/lolito/CMakeLists.txt
@@ -21,14 +21,16 @@ find_package(ament_cmake_python REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(std_msgs REQUIRED)
 
-ament_python_install_package(${PROJECT_NAME})
+ament_python_install_package(scripts)
 
 install(PROGRAMS
-  lolito/scripts/pubhen.py
+  scripts/Z_Melo.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
 
+
+
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
diff --git a/lolito/package.xml b/lolito/package.xml
index 59c8ed8..a9421c9 100644
--- a/lolito/package.xml
+++ b/lolito/package.xml
@@ -7,11 +7,13 @@
   <maintainer email="henryroncanciovelandia@gmail.com">roncanciovl</maintainer>
   <license>TODO: License declaration</license>
   
+  
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  <exec_depend>rclpy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+ 
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/lolito/scripts/Z_Melo.py b/lolito/scripts/Z_Melo.py
new file mode 100644
index 0000000..fff0ae1
--- /dev/null
+++ b/lolito/scripts/Z_Melo.py
@@ -0,0 +1,39 @@
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class MinimalPublisher(Node):
+
+    def __init__(self):
+        super().__init__('minimal_publisher')
+        self.publisher_ = self.create_publisher(String, 'topic', 10)
+        timer_period = 0.5  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = 'Hello World: %d' % self.i
+        self.publisher_.publish(msg)
+        self.get_logger().info('Publishing: "%s"' % msg.data)
+        self.i += 1
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_publisher = MinimalPublisher()
+
+    rclpy.spin(minimal_publisher)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/lolito/scripts/__init__.py b/lolito/scripts/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/lolito_interfaces/CMakeLists.txt b/lolito_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..aef6e8c
--- /dev/null
+++ b/lolito_interfaces/CMakeLists.txt
@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.5)
+project(lolito_interfaces)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/CaptureImage.srv"
+  DEPENDENCIES sensor_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/lolito_interfaces/package.xml b/lolito_interfaces/package.xml
new file mode 100644
index 0000000..d5e7244
--- /dev/null
+++ b/lolito_interfaces/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>lolito_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="henryroncanciovelandia@gmail.com">roncanciovl</maintainer>
+  <license>TODO: License declaration</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>sensor_msgs</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+ 
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/lolito_interfaces/srv/CaptureImage.srv b/lolito_interfaces/srv/CaptureImage.srv
new file mode 100644
index 0000000..f0cd11e
--- /dev/null
+++ b/lolito_interfaces/srv/CaptureImage.srv
@@ -0,0 +1,3 @@
+bool req
+---
+sensor_msgs/Image my_image
\ No newline at end of file
diff --git a/lolito_interfaces/srv/Foto.srv b/lolito_interfaces/srv/Foto.srv
new file mode 100644
index 0000000..d0621d0
--- /dev/null
+++ b/lolito_interfaces/srv/Foto.srv
@@ -0,0 +1,8 @@
+# request
+---
+string path # Path de la imagen a enviar
+
+# response
+---
+sensor_msgs/Image image # Imagen en formato sensor_msgs/Image
+sensor_msgs/Image image1 # Imagen en formato sensor_msgs/Image
\ No newline at end of file
diff --git a/lolito_interfaces/srv/Word.srv b/lolito_interfaces/srv/Word.srv
new file mode 100644
index 0000000..abdf996
--- /dev/null
+++ b/lolito_interfaces/srv/Word.srv
@@ -0,0 +1,7 @@
+# request
+---
+string word_to_send # Palabra a enviar
+
+# response
+---
+string word_received # Palabra recibida
\ No newline at end of file
diff --git a/modelo_robot/launch/display.launch.py b/modelo_robot/launch/display.launch.py
new file mode 100644
index 0000000..6b0608e
--- /dev/null
+++ b/modelo_robot/launch/display.launch.py
@@ -0,0 +1,54 @@
+import launch
+from launch.substitutions import Command, LaunchConfiguration
+import launch_ros
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    urdf_file_name = 'Seguidor_linea_robot.urdf'
+    urdf = os.path.join(
+        get_package_share_directory('modelo_robot'),
+        'urdf',
+        urdf_file_name)
+    with open(urdf, 'r') as infp:
+        robot_desc = infp.read()
+
+
+    robot_state_publisher_node = launch_ros.actions.Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[{'robot_description': robot_desc}],
+        arguments=[urdf]
+    )
+    joint_state_publisher_node = launch_ros.actions.Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui'))
+    )
+    joint_state_publisher_gui_node = launch_ros.actions.Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui',
+        condition=launch.conditions.IfCondition(LaunchConfiguration('gui'))
+    )
+    rviz_node = launch_ros.actions.Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+    )
+
+    return launch.LaunchDescription([
+        launch.actions.DeclareLaunchArgument(name='gui', default_value='True',
+                                             description='Flag to enable joint_state_publisher_gui'),
+
+        joint_state_publisher_node,
+        joint_state_publisher_gui_node,
+        robot_state_publisher_node,
+        rviz_node
+    ])
\ No newline at end of file
diff --git a/modelo_robot/launch/gazebo.launch.py b/modelo_robot/launch/gazebo.launch.py
new file mode 100644
index 0000000..cabbd08
--- /dev/null
+++ b/modelo_robot/launch/gazebo.launch.py
@@ -0,0 +1,107 @@
+import os
+  
+from ament_index_python.packages import get_package_share_directory
+ 
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess
+from launch.conditions import IfCondition
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+
+
+  
+def generate_launch_description():
+ 
+ 
+    model_arg = DeclareLaunchArgument(name='model', description='Absolute path to robot urdf file')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+    use_sim_time = LaunchConfiguration('use_sim_time') 
+    package_name = 'modelo_robot'
+    pkg_share = FindPackageShare(package=package_name).find(package_name)
+    pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros') 
+
+    #world_file_path = 'world.world'
+    #world = LaunchConfiguration('world')
+    #world_path = os.path.join(pkg_share, 'worlds',  world_file_path)
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        name='use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true'
+        )
+
+    robot_name_in_model = 'Seguidor_linea_robot'
+
+    # Get URDF via xacro
+
+    urdf_file_name = 'Seguidor_linea_robot.urdf'
+    urdf = os.path.join(
+        get_package_share_directory('modelo_robot'),
+        'urdf',
+        urdf_file_name
+        )
+    with open(urdf, 'r') as infp:
+        robot_desc = infp.read()
+
+    robot_description = {"robot_description": robot_desc}
+ 
+ 
+    #rivz2
+    rviz2 = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='log',
+        parameters=[{'use_sim_time': use_sim_time}],
+    )
+ 
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters= [{'use_sim_time': use_sim_time, 'robot_description': robot_desc}] #[{'use_sim_time': use_sim_time, "robot_description": robot_description_content}],
+    )
+
+    start_joint_state_publisher_cmd = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        parameters=[{'use_sim_time': use_sim_time}],
+        name='joint_state_publisher',
+    )
+ 
+
+    '''declare_world_cmd = DeclareLaunchArgument(
+        name='world',
+        default_value=world_path,
+        description='Full path to the world model file to load'
+        ) '''
+ 
+    #spawn the robot 
+    spawn = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=["-topic", "/robot_description", 
+                    "-entity", robot_name_in_model,
+                    "-x", '0.0',
+                    "-y", '0.0',
+                    "-z", '0.05',
+                    "-Y", '0.0']
+    )
+
+    gazebo = ExecuteProcess(
+        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', 
+        '-s', 'libgazebo_ros_init.so'], output='screen',
+        )
+
+     
+    return LaunchDescription([
+    declare_use_sim_time_cmd,
+    rviz2,
+    spawn,
+    robot_state_publisher_node,
+    gazebo
+])
diff --git a/modelo_robot/meshes/Base_castor_link.STL b/modelo_robot/meshes/Base_castor_link.STL
new file mode 100644
index 0000000..2c5bab3
Binary files /dev/null and b/modelo_robot/meshes/Base_castor_link.STL differ
diff --git a/modelo_robot/meshes/Rueda_castor_link.STL b/modelo_robot/meshes/Rueda_castor_link.STL
new file mode 100644
index 0000000..39d8e9b
Binary files /dev/null and b/modelo_robot/meshes/Rueda_castor_link.STL differ
diff --git a/modelo_robot/meshes/Rueda_derecha_link.STL b/modelo_robot/meshes/Rueda_derecha_link.STL
new file mode 100644
index 0000000..8e1c3ec
Binary files /dev/null and b/modelo_robot/meshes/Rueda_derecha_link.STL differ
diff --git a/modelo_robot/meshes/Rueda_izquierda_link.STL b/modelo_robot/meshes/Rueda_izquierda_link.STL
new file mode 100644
index 0000000..2737480
Binary files /dev/null and b/modelo_robot/meshes/Rueda_izquierda_link.STL differ
diff --git a/modelo_robot/meshes/base_link.STL b/modelo_robot/meshes/base_link.STL
new file mode 100644
index 0000000..afe81e4
Binary files /dev/null and b/modelo_robot/meshes/base_link.STL differ
diff --git a/modelo_robot/modelo_robot/P_reci.py b/modelo_robot/modelo_robot/P_reci.py
new file mode 100644
index 0000000..3ea4fb7
--- /dev/null
+++ b/modelo_robot/modelo_robot/P_reci.py
@@ -0,0 +1,27 @@
+import rclpy
+from rclpy.node import Node
+from nav_msgs.msg import Odometry
+
+
+class CuadradoRobotPosicionNode(Node):
+    def _init_(self):
+        super()._init_('cuadrado_robot_posicion_node')
+        self.subscription_ = self.create_subscription(Odometry, '/odom', self.odometry_callback, 10)
+
+    def odometry_callback(self, msg):
+        x = msg.pose.pose.position.x
+        y = msg.pose.pose.position.y
+        z = msg.pose.pose.position.z
+        self.get_logger().info(f"Posición actual: x={x:.2f} m, y={y:.2f} m, z={z:.2f} m")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CuadradoRobotPosicionNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__== '_main_':
+    main()
\ No newline at end of file
diff --git a/modelo_robot/modelo_robot/Perras.py b/modelo_robot/modelo_robot/Perras.py
new file mode 100644
index 0000000..3548a61
--- /dev/null
+++ b/modelo_robot/modelo_robot/Perras.py
@@ -0,0 +1,37 @@
+import rclpy
+from rclpy.node import Node
+
+from geometry_msgs.msg import Twist
+
+class PublicadorCMD(Node):
+
+    def __init__(self):
+        super().__init__('publicador_cmd')
+        self.publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) #(tipo_mensaje, nombre_topic, QoS)
+        timer_period = 0.01  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+
+    def timer_callback(self):
+        msg = Twist()
+        msg.linear.x = 0.1
+        #msg.angular.z
+        self.publisher_.publish(msg)
+        self.get_logger().info('Publishing: "%s"' % msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    publicador_cmd = PublicadorCMD()
+
+    rclpy.spin(publicador_cmd)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    publicador_cmd.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/modelo_robot/modelo_robot/__init__.py b/modelo_robot/modelo_robot/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/modelo_robot/package.xml b/modelo_robot/package.xml
new file mode 100644
index 0000000..4f93336
--- /dev/null
+++ b/modelo_robot/package.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>modelo_robot</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="u7003510@unimilitar.edu.co">z3rn291</maintainer>
+  <license>TODO: License declaration</license>
+  <license>Apache License 2.0</license>
+  
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>math</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+
+  <build_depend>cv_bridge</build_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <build_depend>image_transport</build_depend>
+  <exec_depend>image_transport</exec_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <build_depend>OpenCV</build_depend>
+  <exec_depend>OpenCV</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/modelo_robot/resource/modelo_robot b/modelo_robot/resource/modelo_robot
new file mode 100644
index 0000000..e69de29
diff --git a/modelo_robot/setup.cfg b/modelo_robot/setup.cfg
new file mode 100644
index 0000000..18c4fdb
--- /dev/null
+++ b/modelo_robot/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/modelo_robot
+[install]
+install_scripts=$base/lib/modelo_robot
diff --git a/modelo_robot/setup.py b/modelo_robot/setup.py
new file mode 100644
index 0000000..ea2bf80
--- /dev/null
+++ b/modelo_robot/setup.py
@@ -0,0 +1,44 @@
+from setuptools import setup
+
+import os
+from glob import glob
+from setuptools import setup
+from setuptools import find_packages
+
+package_name = 'modelo_robot'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        #COLOQUE NUEVO 
+        #('share/' + package_name, package_files),
+        #('share/' + package_name + '/launch', package_files),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+        #######nuevo_robot
+        (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
+        (os.path.join('share', package_name, 'meshes'), glob('meshes/*')),
+        (os.path.join('share', package_name, 'worlds'), glob('worlds/*')),
+
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='z3rn291',
+    maintainer_email='u7003510@unimilitar.edu.co',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'F = modelo_robot.Perras:main',
+            'L = modelo_robot.P_reci:main',
+
+
+
+        ],
+    },
+)
diff --git a/modelo_robot/test/test_copyright.py b/modelo_robot/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/modelo_robot/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/modelo_robot/test/test_flake8.py b/modelo_robot/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/modelo_robot/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/modelo_robot/test/test_pep257.py b/modelo_robot/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/modelo_robot/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/modelo_robot/urdf/Seguidor_linea_robot.urdf b/modelo_robot/urdf/Seguidor_linea_robot.urdf
new file mode 100644
index 0000000..fa5660c
--- /dev/null
+++ b/modelo_robot/urdf/Seguidor_linea_robot.urdf
@@ -0,0 +1,380 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<!--robot
+  name="Seguidor_linea_robot"-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mobile_robot">
+  
+  <!--link name="odom_link"/>
+  <joint name="odom_joint" type="fixed">
+    <parent link="odom_link" />
+    <child link = "base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint-->
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.010085 -7.8763E-06 -0.0066048"
+        rpy="0 0 0" />
+      <mass value="0.12" />
+      <inertia
+        ixx="0.0001"
+        ixy="0"
+        ixz="0"
+        iyy="0.0003"
+        iyz="0"
+        izz="0.0002" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 0.3" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!--link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world" />
+    <child link = "base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+    package://modelo_robot/meshes/base_link.stl
+  </joint-->
+
+  <gazebo reference="base_link">
+    <mu1>200</mu1>
+    <mu2>200</mu2>
+    <kp>1000000</kp>
+    <kd>1</kd>
+    <material>Gazebo/Yellow</material>
+  </gazebo>
+
+  <link
+    name="Rueda_izquierda_link">
+    <inertial>
+      <origin
+        xyz="8.9146E-10 -3.2512E-08 -0.011873"
+        rpy="0 0 0" />
+      <mass value="0.1403" />
+      <inertia
+        ixx="0.00002"
+        ixy="0"
+        ixz="0"
+        iyy="0.00002"
+        iyz="0"
+        izz="0.0001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/Rueda_izquierda_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/Rueda_izquierda_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Rueda_izquierda_joint"
+    type="continuous">
+    <origin
+      xyz="-0.033259 0.08025 -0.01375"
+      rpy="-1.5708 0.042481 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="Rueda_izquierda_link" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics
+      damping="0.1"
+      friction="0.1" />
+  </joint>
+
+ <gazebo reference="Rueda_izquierda_link">
+    <mu1>200</mu1>
+    <mu2>200</mu2>
+    <kp>1000000</kp>
+    <kd>1</kd>
+    <material>Gazebo/Gray</material>
+  </gazebo>
+
+
+  <link
+    name="Rueda_derecha_link">
+    <inertial>
+      <origin
+        xyz="-8.9146E-10 -3.2512E-08 0.011873"
+        rpy="0 0 0" />
+      <mass value="0.1403" />
+      <inertia
+        ixx="0.00002"
+        ixy="0"
+        ixz="0"
+        iyy="0.00002"
+        iyz="0"
+        izz="0.0001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/Rueda_derecha_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/Rueda_derecha_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <gazebo reference="Rueda_derecha_link">
+    <mu1>200</mu1>
+    <mu2>200</mu2>
+    <kp>1000000</kp>
+    <kd>1</kd>
+    <material>Gazebo/Gray</material>
+  </gazebo>
+
+  <joint
+    name="Rueda_derecha_joint"
+    type="continuous">
+    <origin
+      xyz="-0.033259 -0.08025 -0.01375"
+      rpy="1.5708 0.042481 -3.1416" />
+    <parent
+      link="base_link" />
+    <child
+      link="Rueda_derecha_link" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics
+      damping="0.1"
+      friction="0.1" />
+  </joint>
+
+  <link
+    name="Base_castor_link">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.00004"
+        ixy="0"
+        ixz="0"
+        iyy="0.00004"
+        iyz="0"
+        izz="0.00001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/Base_castor_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/Base_castor_link.STL" />
+      </geometry>
+    </collision>
+    
+  </link>
+
+  <gazebo reference="Base_castor_link">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>1000000</kp>
+    <kd>1</kd>
+    <material>Gazebo/Gray</material>
+  </gazebo>
+
+  <joint
+    name="Base_castor_joint"
+    type="continuous">
+    <origin
+      xyz="0.072581 0 -0.0025"
+      rpy="-3.1408 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="Base_castor_link" />
+    <axis
+      xyz="0 0 1" />
+  </joint>
+  <link
+    name="Rueda_castor_link">
+    <inertial>
+      <origin
+        xyz="6.93889390390723E-18 -2.62037475051713E-11 -2.77710070911708E-09"
+        rpy="0 0 0" />
+      <mass
+        value="0.0828739992319076" />
+      <inertia
+        ixx="0.0004"
+        ixy="0"
+        ixz="0"
+        iyy="0.0004"
+        iyz="0"
+        izz="0.00001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/Rueda_castor_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://modelo_robot/meshes/Rueda_castor_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <gazebo reference="Rueda_castor_link">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>1000000</kp>
+    <kd>1</kd>
+    <material>Gazebo/Gray</material>
+  </gazebo>
+
+  <joint
+    name="Rueda_castor_joint"
+    type="continuous">
+    <origin
+      xyz="0.015014 -0.00012272 0.02296"
+      rpy="0 -1.57 1.5708" />
+    <parent
+      link="Base_castor_link" />
+    <child
+      link="Rueda_castor_link" />
+    <axis
+      xyz="0 0 1" />
+  </joint>
+
+  <gazebo>
+    <plugin name="two_wheeled_robot_diff_drive" filename="libgazebo_ros_diff_drive.so">
+ 
+      <update_rate>100</update_rate>
+      
+      <!-- wheels -->
+      <left_joint>Rueda_izquierda_joint</left_joint>
+      <right_joint>Rueda_derecha_joint</right_joint>
+ 
+      <!-- kinematics -->
+      <wheel_separation>0.15</wheel_separation>
+      <wheel_diameter>0.06</wheel_diameter>
+ 
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>20.0</max_wheel_acceleration>
+ 
+      <!-- Receive velocity commands on this ROS topic -->
+      <command_topic>cmd_vel</command_topic>
+ 
+      <!-- output -->
+      <!-- When false, publish no wheel odometry data to a ROS topic -->
+      <publish_odom>true</publish_odom>
+ 
+      <!-- When true, publish coordinate transform from odom to base_footprint -->
+      <!-- I usually use the robot_localization package to publish this transform -->  
+      <publish_odom_tf>true</publish_odom_tf>
+     
+      <!-- When true, publish coordinate transform from base_link to the wheels -->
+      <!-- The robot_state_publisher package is often used to publish this transform -->  
+      <publish_wheel_tf>true</publish_wheel_tf>
+ 
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom_link</odometry_frame>
+      <robot_base_frame>base_link</robot_base_frame>
+ 
+      <odometry_source>1</odometry_source>
+      <ros>
+        <remapping>odom:=wheel/odometry</remapping>
+      </ros>
+    </plugin>
+  </gazebo>
+
+  <gazebo>
+    <plugin name="gazebo_ros_joint_state_publisher"
+        filename="libgazebo_ros_joint_state_publisher.so">
+        <update_rate>100</update_rate>
+        <joint_name>Base_castor_joint</joint_name>
+        <joint_name>Rueda_castor_joint</joint_name>
+    </plugin>
+  </gazebo>
+
+</robot>
diff --git a/modelo_robot/worlds/world.world b/modelo_robot/worlds/world.world
new file mode 100644
index 0000000..d3d1d64
--- /dev/null
+++ b/modelo_robot/worlds/world.world
@@ -0,0 +1,1451 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 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>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </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>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='small_warehouse'>
+      <link name='Wall_10'>
+        <pose>-2.02568 2.92333 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_10_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8711 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'/>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_10_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.8711 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name='Wall_11'>
+        <pose>-2.887 0.69235 0 0 0 -1.5708</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_11_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>4.62378 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'/>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_11_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>4.62378 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name='Wall_11_clone'>
+        <pose>-4.44208 0.738947 0 0 0 -1.5708</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='ModelPreview_2::Wall_11_clone::Wall_11_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>7.42809 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'/>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_11_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>7.42809 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name='Wall_14'>
+        <pose>-0.409926 -1.55115 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_14_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.36648 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'/>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_14_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.36648 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name='Wall_15'>
+        <pose>-1.53187 -0.513425 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_15_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.06622 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'/>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_15_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.06622 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name='Wall_19'>
+        <pose>0.837565 0.010614 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_19_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.32777 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'/>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='Wall_19_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.32777 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <enable_wind>0</enable_wind>
+      </link>
+      <link name='Wall_20'>
+        <pose>-0.484506 1.39698 0 0 -0 2.02352</pose>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <visual name='Wall_20_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3.22686 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'/>
+          </material>
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+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
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+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
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+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
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+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='link_4'>
+        <pose>2.54621 1.57728 0.5 0 -0 0</pose>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>0.01 0.01 0.01 1</specular>
+            <emissive>0 0 0 1</emissive>
+            <shader type='pixel'/>
+          </material>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+          <transparency>0</transparency>
+        </visual>
+        <collision name='collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>1.5128 -0.996395 0 0 -0 0</pose>
+    </model>
+    <state world_name='default'>
+      <sim_time>47 583000000</sim_time>
+      <real_time>47 834219659</real_time>
+      <wall_time>1655239593 684977528</wall_time>
+      <iterations>47583</iterations>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='small_warehouse'>
+        <pose>1.5128 -0.996395 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='Wall_10'>
+          <pose>-0.51288 1.92694 0 0 -0 3.14159</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_11'>
+          <pose>-1.3742 -0.304045 0 0 0 -1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_11_clone'>
+          <pose>-2.92928 -0.257448 0 0 0 -1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_14'>
+          <pose>1.10287 -2.54754 0 0 -0 3.14159</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_15'>
+          <pose>-0.01907 -1.50982 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_19'>
+          <pose>2.35037 -0.985781 0 0 -0 3.14159</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_20'>
+          <pose>1.02829 0.400585 0 0 -0 2.02352</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_24'>
+          <pose>3.354 1.7994 0 0 0 -0.948986</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_24_clone'>
+          <pose>0.4956 -1.99714 0 0 0 -0.803995</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_6'>
+          <pose>0.725779 -3.88946 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_6_clone'>
+          <pose>0.794369 3.37878 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_7'>
+          <pose>4.41508 -0.259612 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='link_1'>
+          <pose>2.5128 -2.44202 0.5 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='link_2'>
+          <pose>2.01164 3.0036 0.5 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='link_3'>
+          <pose>1.5128 0.569035 0.5 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='link_4'>
+          <pose>4.05901 0.580885 0.5 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>1.40816 -5.3716 3.64601 -0 0.547643 1.97219</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>