diff --git a/wild_visual_navigation_jackal/launch/sim.launch b/wild_visual_navigation_jackal/launch/sim.launch
index 68e83fa8..ae44791d 100644
--- a/wild_visual_navigation_jackal/launch/sim.launch
+++ b/wild_visual_navigation_jackal/launch/sim.launch
@@ -1,15 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <launch>
-    <!-- Extras to add required sensors -->
-    <!-- <arg name="extras_file"          default="$(find wild_visual_navigation_sim)/urdf/extras.xacro"/>
-    <env name="JACKAL_URDF_EXTRAS"   value="$(arg extras_file)"/> -->
-
     <!-- Default simulation args -->
     <arg name="use_sim_time" default="true" />
     <arg name="gui" default="true" />
     <arg name="headless" default="false" />
-    <arg name="world_name" default="$(find wild_visual_navigation_sim)/worlds/outdoor.world" />
-    <arg name="jackal_config" value="front_flea3" /> <!-- add camera -->
+    <arg name="world_name" default="$(find wild_visual_navigation_jackal)/worlds/outdoor.world" />
+    
+    <arg name="x" default="0" />
+    <arg name="y" default="0" />
+    <arg name="z" default="1" />
+    <arg name="yaw" default="0" />
   
     <!-- Launch Gazebo with the specified world -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -20,15 +20,13 @@
       <arg name="world_name" value="$(arg world_name)" />
     </include>
   
-    <!-- Spawn Jackal -->
-    <include file="$(find jackal_gazebo)/launch/spawn_jackal.launch">
-      <arg name="x" value="0" />
-      <arg name="y" value="0" />
-      <arg name="z" value="1.0" />
-      <arg name="yaw" value="0" />
-      <arg name="config" value="$(arg jackal_config)" />
-      <arg name="joystick" value="false" />
-    </include>
+  <!-- Load Jackal's description, controllers, and spawn-->
+  <param name="robot_description"
+         command="$(find wild_visual_navigation_jackal)/urdf/load_xacro.sh" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  
+  <include file="$(find jackal_control)/launch/control.launch"/>
 
-    
+  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
+	      args="-urdf -model jackal -param robot_description -x $(arg x) -y $(arg y) -z $(arg z) -R 0 -P 0 -Y $(arg yaw)" />   
 </launch>
diff --git a/wild_visual_navigation_jackal/urdf/depth_camera.xacro b/wild_visual_navigation_jackal/urdf/depth_camera.xacro
new file mode 100644
index 00000000..474952ae
--- /dev/null
+++ b/wild_visual_navigation_jackal/urdf/depth_camera.xacro
@@ -0,0 +1,96 @@
+<?xml version="1.0"?>
+<robot name="depth_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="depth_camera"
+        params="name parent x:=0.0
+                            y:=0.0
+                            z:=0.0
+                            roll:=0.0
+                            pitch:=0.0
+                            yaw:=0.0">
+        <!-- param name: Name of the camera -->
+        <!-- param parent: Parent link for camera joint -->
+        <xacro:property name="camera_size" value="0.02" />
+
+        <!--create
+        link from parent -->
+        <joint name="${parent}_to_${name}" type="fixed">
+            <origin xyz="${x} ${y} ${z}" rpy="${roll} ${pitch} ${yaw}" />
+            <parent link="${parent}" />
+            <child link="${name}_link" />
+        </joint>
+
+        <!-- Create camera -->
+        <link name="${name}_link">
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <cylinder length="${camera_size}" radius="${camera_size}" />
+                </geometry>
+            </collision>
+
+            <visual>
+                <origin xyz="0 0 0" rpy="0 ${pi/2} 0" />
+                <geometry>
+                    <cylinder length="${camera_size}" radius="${camera_size}" />
+                </geometry>
+                <material name="blue">
+                    <color rgba="0 0 .8 1" />
+                </material>
+            </visual>
+
+            <inertial>
+                <mass value="1e-5" />
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+            </inertial>
+        </link>
+
+        <gazebo reference="${name}_link">
+            <turnGravityOff>true</turnGravityOff>
+            <sensor type="depth" name="${name}">
+                <update_rate>30</update_rate>
+                <camera>
+                    <!-- 75x65 degree FOV for the depth sensor -->
+                    <horizontal_fov>1.518</horizontal_fov>
+                    <vertical_fov>1.012</vertical_fov>
+                    <image>
+                        <width>640</width>
+                        <height>480</height>
+                        <format>R8G8B8</format>
+                    </image>
+                    <clip>
+                        <!-- give the color sensor a maximum range of 50m so that the simulation
+                        renders nicely -->
+                        <near>0.01</near>
+                        <far>50.0</far>
+                    </clip>
+                </camera>
+                <plugin name="${name}_controller" filename="libgazebo_ros_openni_kinect.so">
+                    <robotNamespace>/</robotNamespace>
+                    <baseline>0.2</baseline>
+                    <alwaysOn>true</alwaysOn>
+                    <updateRate>0.0</updateRate>
+                    <cameraName>${name}</cameraName>
+                    <imageTopicName>/${name}/color/image_raw</imageTopicName>
+                    <cameraInfoTopicName>/${name}/color/camera_info</cameraInfoTopicName>
+                    <depthImageTopicName>/${name}/depth/image_rect_raw</depthImageTopicName>
+                    <depthImageInfoTopicName>/${name}/depth/camera_info</depthImageInfoTopicName>
+                    <pointCloudTopicName>/${name}/depth/color/points</pointCloudTopicName>
+                    <frameName>${name}_link</frameName>
+                    <pointCloudCutoff>0.105</pointCloudCutoff>
+                    <pointCloudCutoffMax>8.0</pointCloudCutoffMax>
+                    <distortionK1>0.00000001</distortionK1>
+                    <distortionK2>0.00000001</distortionK2>
+                    <distortionK3>0.00000001</distortionK3>
+                    <distortionT1>0.00000001</distortionT1>
+                    <distortionT2>0.00000001</distortionT2>
+                    <CxPrime>0</CxPrime>
+                    <Cx>0</Cx>
+                    <Cy>0</Cy>
+                    <focalLength>0</focalLength>
+                    <hackBaseline>0</hackBaseline>
+                </plugin>
+            </sensor>
+        </gazebo>
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/wild_visual_navigation_jackal/urdf/extras.xacro b/wild_visual_navigation_jackal/urdf/extras.xacro
new file mode 100644
index 00000000..ab18448d
--- /dev/null
+++ b/wild_visual_navigation_jackal/urdf/extras.xacro
@@ -0,0 +1,10 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- Add camera -->
+    <xacro:include filename="$(find wild_visual_navigation_jackal)/urdf/depth_camera.xacro" />
+    <xacro:depth_camera name="depth_camera"
+                       parent="front_mount"
+                       x="0.1"
+                       y="0.0"
+                       z="0.02"
+                       pitch="${pi/180 * 20}"/>
+</robot>
diff --git a/wild_visual_navigation_jackal/urdf/load_xacro.sh b/wild_visual_navigation_jackal/urdf/load_xacro.sh
new file mode 100755
index 00000000..e5e1ac67
--- /dev/null
+++ b/wild_visual_navigation_jackal/urdf/load_xacro.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+# This is a workaround to set the JACKAL_URDF_EXTRAS path
+export JACKAL_URDF_EXTRAS="$(rospack find wild_visual_navigation_jackal)/urdf/extras.xacro"
+xacro $(rospack find jackal_description)/urdf/jackal.urdf.xacro
\ No newline at end of file
diff --git a/wild_visual_navigation_jackal/worlds/outdoor.world b/wild_visual_navigation_jackal/worlds/outdoor.world
index a0bb69ba..209372f8 100644
--- a/wild_visual_navigation_jackal/worlds/outdoor.world
+++ b/wild_visual_navigation_jackal/worlds/outdoor.world
@@ -266,7 +266,7 @@
 		<model name="tree8">
 			<static>true</static>
 			<link name="tree8_link">
-				<pose>9 -4 -0.5 0 0 0.5</pose>
+				<pose>9 -4 -1.0 0 0 0.5</pose>
 				<collision name="tree8_collision">
 					<geometry>
 						<mesh>