diff --git a/README.md b/README.md
index c1ef91e..95f4464 100644
--- a/README.md
+++ b/README.md
@@ -51,6 +51,8 @@ Once the package is built and sourced, you can start a simulation.
   ros2 launch andino_gz andino_gz.launch.py
   ```
 
+_Note: You can use `--world_name` flag to indicate other [world](andino_gz/worlds/) to use. (For example: `depot.sdf`(default), `empty.sdf`)_
+
 If you'd like to work from ROS you can launch the ros bridge via:
 
   ```sh
diff --git a/andino_gz/launch/andino_gz.launch.py b/andino_gz/launch/andino_gz.launch.py
index dc2a564..74220e8 100644
--- a/andino_gz/launch/andino_gz.launch.py
+++ b/andino_gz/launch/andino_gz.launch.py
@@ -6,7 +6,7 @@
 from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 import xacro
 
@@ -16,12 +16,10 @@ def generate_launch_description():
 
     rviz_arg = DeclareLaunchArgument('rviz', default_value='false', description='Start RViz.')
     jsp_gui_arg = DeclareLaunchArgument('jsp_gui', default_value='false', description='Run joint state publisher gui node.')
+    world_name_arg = DeclareLaunchArgument('world_name', default_value='depot.sdf', description='Name of the world to load.')
 
-    world_name = 'depot.sdf'
-    world_path = os.path.join(pkg_andino_gz, 'worlds', world_name)
-
-    # Uncomment the following line to use the empty world
-    # world_path = '-r empty.sdf'
+    world_name = LaunchConfiguration('world_name')
+    world_path = PathJoinSubstitution([pkg_andino_gz, 'worlds', world_name])
 
     # Gazebo Sim
     gazebo = IncludeLaunchDescription(
@@ -69,6 +67,7 @@ def generate_launch_description():
             # Arguments and Nodes
             jsp_gui_arg,
             rviz_arg,
+            world_name_arg,
             gazebo,
             spawn_robot_and_rsp,
             jsp_gui,
diff --git a/andino_gz/worlds/empty.sdf b/andino_gz/worlds/empty.sdf
new file mode 100644
index 0000000..c5c3118
--- /dev/null
+++ b/andino_gz/worlds/empty.sdf
@@ -0,0 +1,210 @@
+<?xml version='1.0' encoding='ASCII'?>
+<sdf version='1.7'>
+  <world name='empty'>
+    <physics name='1ms' type='ignored'>
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1</real_time_factor>
+    </physics>
+    <plugin name='ignition::gazebo::systems::Physics' filename='libignition-gazebo-physics-system.so'/>
+    <plugin name='ignition::gazebo::systems::UserCommands' filename='libignition-gazebo-user-commands-system.so'/>
+    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='libignition-gazebo-scene-broadcaster-system.so'/>
+    <plugin name="ignition::gazebo::systems::Sensors" filename="libignition-gazebo-sensors-system.so">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <scene>
+      <ambient>1 1 1 1</ambient>
+      <background>0.8 0.8 0.8 1.0</background>
+      <shadows>1</shadows>
+      <grid>1</grid>
+    </scene>
+
+    <gui fullscreen="0">
+
+      <!-- 3D scene -->
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.4 0.4 0.4</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-0.7 0.7 0.7 0 0.3 -0.3</camera_pose>
+      </plugin>
+
+      <!-- Play / pause / step -->
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+
+      </plugin>
+
+      <!-- Time / RTF -->
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+
+      </plugin>
+
+      <!-- Insert simple shapes -->
+      <plugin filename="Shapes" name="Shapes">
+        <ignition-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">0</property>
+          <property key="y" type="double">0</property>
+          <property key="width" type="double">250</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#666666</property>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Insert lights -->
+      <plugin filename="Lights" name="Lights">
+        <ignition-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">250</property>
+          <property key="y" type="double">0</property>
+          <property key="width" type="double">150</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#666666</property>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Translate / rotate -->
+      <plugin filename="TransformControl" name="Transform control">
+        <ignition-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">0</property>
+          <property key="y" type="double">50</property>
+          <property key="width" type="double">250</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#777777</property>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Screenshot -->
+      <plugin filename="Screenshot" name="Screenshot">
+        <ignition-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">250</property>
+          <property key="y" type="double">50</property>
+          <property key="width" type="double">50</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#777777</property>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Entity tree -->
+      <plugin filename="EntityTree" name="Entity tree">
+        <ignition-gui>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Inspector -->
+      <plugin filename="ComponentInspector" name="Component inspector">
+        <ignition-gui>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+      </plugin>
+
+      <!-- Teleop -->
+      <plugin filename="Teleop" name="Teleop">
+        <ignition-gui>
+          <property type="string" key="state">docked_collapsed</property>
+        </ignition-gui>
+        <topic>/model/andino/cmd_vel</topic>
+      </plugin>
+
+      <!-- Image of the Camera display -->
+      <plugin filename="ImageDisplay" name="Image Display">
+        <ignition-gui>
+          <property key="state" type="string">docked</property>
+        </ignition-gui>
+      </plugin>
+
+    </gui>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</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>
+    </light>
+
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>10 10</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode/>
+            </friction>
+            <bounce/>
+            <contact/>
+          </surface>
+        </collision>
+      </link>
+      <pose>0 0 0 0 0 0</pose>
+    </model>
+
+  </world>
+</sdf>