diff --git a/nav2_bringup/launch/tb3_gz_robot_launch.py b/nav2_bringup/launch/tb3_gz_robot_launch.py
new file mode 100644
index 0000000000..dbc4f19ddc
--- /dev/null
+++ b/nav2_bringup/launch/tb3_gz_robot_launch.py
@@ -0,0 +1,106 @@
+# Copyright (C) 2023 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    bringup_dir = get_package_share_directory('nav2_bringup')
+
+    namespace = LaunchConfiguration('namespace')
+    use_simulator = LaunchConfiguration('use_simulator')
+    robot_name = LaunchConfiguration('robot_name')
+    robot_sdf = LaunchConfiguration('robot_sdf')
+    pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
+            'y': LaunchConfiguration('y_pose', default='-0.50'),
+            'z': LaunchConfiguration('z_pose', default='0.01'),
+            'R': LaunchConfiguration('roll', default='0.00'),
+            'P': LaunchConfiguration('pitch', default='0.00'),
+            'Y': LaunchConfiguration('yaw', default='0.00')}
+
+    # Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        'use_simulator',
+        default_value='True',
+        description='Whether to start the simulator')
+
+    declare_robot_name_cmd = DeclareLaunchArgument(
+        'robot_name',
+        default_value='turtlebot3_waffle',
+        description='name of the robot')
+
+    declare_robot_sdf_cmd = DeclareLaunchArgument(
+        'robot_sdf',
+        default_value=os.path.join(bringup_dir, 'worlds', 'gz_waffle.sdf'),
+        description='Full path to robot sdf file to spawn the robot in gazebo')
+
+    pkg_nav2_bringup = get_package_share_directory('nav2_bringup')
+    bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        parameters=[
+            {
+                'config_file': os.path.join(
+                    pkg_nav2_bringup, 'params', 'turtlebot3_waffle_bridge.yaml'
+                ),
+            }
+        ],
+        output='screen',
+    )
+
+    spawn_model = Node(
+        condition=IfCondition(use_simulator),
+        package='ros_gz_sim',
+        executable='create',
+        output='screen',
+        arguments=[
+            '-entity', robot_name,
+            '-file', robot_sdf,
+            '-robot_namespace', namespace,
+            '-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
+            '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']]
+    )
+
+    set_env_vars_resources = AppendEnvironmentVariable(
+            'GZ_SIM_RESOURCE_PATH',
+            os.path.join(get_package_share_directory('turtlebot3_gazebo'),
+                         'models'))
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_robot_name_cmd)
+    ld.add_action(declare_robot_sdf_cmd)
+    ld.add_action(declare_use_simulator_cmd)
+
+    ld.add_action(set_env_vars_resources)
+
+    ld.add_action(bridge)
+    ld.add_action(spawn_model)
+    return ld
diff --git a/nav2_bringup/launch/tb3_gz_simulation_launch.py b/nav2_bringup/launch/tb3_gz_simulation_launch.py
new file mode 100644
index 0000000000..a6147518d9
--- /dev/null
+++ b/nav2_bringup/launch/tb3_gz_simulation_launch.py
@@ -0,0 +1,306 @@
+# Copyright (C) 2023 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""This is all-in-one launch script intended for use by nav2 developers."""
+
+import os
+import tempfile
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import (
+    AppendEnvironmentVariable,
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    IncludeLaunchDescription,
+    OpaqueFunction,
+    RegisterEventHandler,
+)
+from launch.conditions import IfCondition
+from launch.event_handlers import OnShutdown
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PythonExpression
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Get the launch directory
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    launch_dir = os.path.join(bringup_dir, 'launch')
+    # This checks that tb3 exists needed for the URDF. If not using TB3, its safe to remove.
+    _ = get_package_share_directory('turtlebot3_gazebo')
+
+    # Create the launch configuration variables
+    slam = LaunchConfiguration('slam')
+    namespace = LaunchConfiguration('namespace')
+    use_namespace = LaunchConfiguration('use_namespace')
+    map_yaml_file = LaunchConfiguration('map')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    params_file = LaunchConfiguration('params_file')
+    autostart = LaunchConfiguration('autostart')
+    use_composition = LaunchConfiguration('use_composition')
+    use_respawn = LaunchConfiguration('use_respawn')
+
+    # Launch configuration variables specific to simulation
+    rviz_config_file = LaunchConfiguration('rviz_config_file')
+    use_simulator = LaunchConfiguration('use_simulator')
+    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+    world = LaunchConfiguration('world')
+    pose = {
+        'x': LaunchConfiguration('x_pose', default='-2.00'),
+        'y': LaunchConfiguration('y_pose', default='-0.50'),
+        'z': LaunchConfiguration('z_pose', default='0.01'),
+        'R': LaunchConfiguration('roll', default='0.00'),
+        'P': LaunchConfiguration('pitch', default='0.00'),
+        'Y': LaunchConfiguration('yaw', default='0.00'),
+    }
+    robot_name = LaunchConfiguration('robot_name')
+    robot_sdf = LaunchConfiguration('robot_sdf')
+
+    # Map fully qualified names to relative ones so the node's namespace can be prepended.
+    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+    # https://github.com/ros/geometry2/issues/32
+    # https://github.com/ros/robot_state_publisher/pull/30
+    # TODO(orduno) Substitute with `PushNodeRemapping`
+    #              https://github.com/ros2/launch_ros/issues/56
+    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
+
+    # Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace', default_value='', description='Top-level namespace'
+    )
+
+    declare_use_namespace_cmd = DeclareLaunchArgument(
+        'use_namespace',
+        default_value='false',
+        description='Whether to apply a namespace to the navigation stack',
+    )
+
+    declare_slam_cmd = DeclareLaunchArgument(
+        'slam', default_value='False', description='Whether run a SLAM'
+    )
+
+    declare_map_yaml_cmd = DeclareLaunchArgument(
+        'map',
+        default_value=os.path.join(bringup_dir, 'maps', 'turtlebot3_world.yaml'),
+        description='Full path to map file to load',
+    )
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true',
+    )
+
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes',
+    )
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart',
+        default_value='true',
+        description='Automatically startup the nav2 stack',
+    )
+
+    declare_use_composition_cmd = DeclareLaunchArgument(
+        'use_composition',
+        default_value='True',
+        description='Whether to use composed bringup',
+    )
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn',
+        default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
+    )
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        'rviz_config_file',
+        default_value=os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz'),
+        description='Full path to the RVIZ config file to use',
+    )
+
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        'use_simulator',
+        default_value='True',
+        description='Whether to start the simulator',
+    )
+
+    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+        'use_robot_state_pub',
+        default_value='True',
+        description='Whether to start the robot state publisher',
+    )
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        'use_rviz', default_value='True', description='Whether to start RVIZ'
+    )
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless', default_value='True', description='Whether to execute gzclient)'
+    )
+
+    declare_world_cmd = DeclareLaunchArgument(
+        'world',
+        # TODO(orduno) Switch back once ROS argument passing has been fixed upstream
+        #              https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/91
+        # default_value=os.path.join(get_package_share_directory('turtlebot3_gazebo'),
+        # worlds/turtlebot3_worlds/waffle.model')
+        default_value=os.path.join(bringup_dir, 'worlds', 'gz_world_only.sdf.xacro'),
+        description='Full path to world model file to load',
+    )
+
+    declare_robot_name_cmd = DeclareLaunchArgument(
+        'robot_name', default_value='turtlebot3_waffle', description='name of the robot'
+    )
+
+    declare_robot_sdf_cmd = DeclareLaunchArgument(
+        'robot_sdf',
+        default_value=os.path.join(bringup_dir, 'worlds', 'gz_waffle.sdf'),
+        description='Full path to robot sdf file to spawn the robot in gazebo',
+    )
+
+    urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+    with open(urdf, 'r') as infp:
+        robot_description = infp.read()
+
+    start_robot_state_publisher_cmd = Node(
+        condition=IfCondition(use_robot_state_pub),
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        namespace=namespace,
+        output='screen',
+        parameters=[
+            {'use_sim_time': use_sim_time, 'robot_description': robot_description}
+        ],
+        remappings=remappings,
+    )
+
+    rviz_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'rviz_launch.py')),
+        condition=IfCondition(use_rviz),
+        launch_arguments={
+            'namespace': namespace,
+            'use_namespace': use_namespace,
+            'rviz_config': rviz_config_file,
+        }.items(),
+    )
+
+    bringup_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bringup_launch.py')),
+        launch_arguments={
+            'namespace': namespace,
+            'use_namespace': use_namespace,
+            'slam': slam,
+            'map': map_yaml_file,
+            'use_sim_time': use_sim_time,
+            'params_file': params_file,
+            'autostart': autostart,
+            'use_composition': use_composition,
+            'use_respawn': use_respawn,
+        }.items(),
+    )
+    # The SDF file for the world is a xacro file because we wanted to
+    # conditionally load the SceneBroadcaster plugin based on wheter we're
+    # running in headless mode. But currently, the Gazebo command line doesn't
+    # take SDF strings for worlds, so the output of xacro needs to be saved into
+    # a temporary file and passed to Gazebo.
+    world_sdf = tempfile.mktemp(prefix='nav2_', suffix='.sdf')
+    world_sdf_xacro = ExecuteProcess(
+        cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
+                         'gz_sim.launch.py')),
+        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items(),
+        condition=IfCondition(use_simulator))
+
+    remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
+        on_shutdown=[
+            OpaqueFunction(function=lambda _: os.remove(world_sdf))
+        ]))
+
+    set_env_vars_resources = AppendEnvironmentVariable(
+            'GZ_SIM_RESOURCE_PATH',
+            os.path.join(get_package_share_directory('turtlebot3_gazebo'),
+                         'models'))
+    gazebo_client = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('ros_gz_sim'),
+                         'launch',
+                         'gz_sim.launch.py')
+        ),
+        condition=IfCondition(PythonExpression(
+            [use_simulator, ' and not ', headless])),
+        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+    )
+
+    gz_robot = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_dir, 'tb3_gz_robot_launch.py')),
+        launch_arguments={'namespace': namespace,
+                          'use_simulator': use_simulator,
+                          'use_sim_time': use_sim_time,
+                          'robot_name': robot_name,
+                          'robot_sdf': robot_sdf,
+                          'x_pose': pose['x'],
+                          'y_pose': pose['y'],
+                          'z_pose': pose['z'],
+                          'roll': pose['R'],
+                          'pitch': pose['P'],
+                          'yaw': pose['Y']}.items())
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_namespace_cmd)
+    ld.add_action(declare_slam_cmd)
+    ld.add_action(declare_map_yaml_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_composition_cmd)
+
+    ld.add_action(declare_rviz_config_file_cmd)
+    ld.add_action(declare_use_simulator_cmd)
+    ld.add_action(declare_use_robot_state_pub_cmd)
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(declare_world_cmd)
+    ld.add_action(declare_robot_name_cmd)
+    ld.add_action(declare_robot_sdf_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(world_sdf_xacro)
+    ld.add_action(remove_temp_sdf_file)
+    ld.add_action(gz_robot)
+    ld.add_action(gazebo_server)
+    ld.add_action(gazebo_client)
+
+    # Add the actions to launch all of the navigation nodes
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(rviz_cmd)
+    ld.add_action(bringup_cmd)
+
+    return ld
diff --git a/nav2_bringup/package.xml b/nav2_bringup/package.xml
index 56c8602eeb..3216746350 100644
--- a/nav2_bringup/package.xml
+++ b/nav2_bringup/package.xml
@@ -15,10 +15,15 @@
   <build_depend>navigation2</build_depend>
   <build_depend>launch_ros</build_depend>
 
+  <exec_depend>diff_drive_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>navigation2</exec_depend>
   <exec_depend>nav2_common</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
   <exec_depend>slam_toolbox</exec_depend>
+  <exec_depend>xacro</exec_depend>
   <!-- Replace after https://github.com/ros-navigation/navigation2/pull/3634 -->
   <!-- <exec_depend>turtlebot3_gazebo</exec_depend> -->
 
diff --git a/nav2_bringup/params/turtlebot3_waffle_bridge.yaml b/nav2_bringup/params/turtlebot3_waffle_bridge.yaml
new file mode 100644
index 0000000000..843699f8eb
--- /dev/null
+++ b/nav2_bringup/params/turtlebot3_waffle_bridge.yaml
@@ -0,0 +1,51 @@
+# replace clock_bridge
+- ros_topic_name: "clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# no equivalent in TB3 - add
+- ros_topic_name: "joint_states"
+  gz_topic_name: "joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+# replace odom_bridge - check gz topic name
+# gz topic published by DiffDrive plugin
+- ros_topic_name: "odom"
+  gz_topic_name: "/odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
+
+# replace odom_tf_bridge - check gz and ros topic names
+# gz topic published by DiffDrive plugin
+# prefix ros2 topic with gz
+- ros_topic_name: "tf"
+  gz_topic_name: "/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# replace imu_bridge - check gz topic name
+- ros_topic_name: "imu"
+  gz_topic_name: "/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "gz.msgs.IMU"
+  direction: GZ_TO_ROS
+
+# replace lidar_bridge
+- ros_topic_name: "scan"
+  gz_topic_name: "/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  direction: GZ_TO_ROS
+
+# replace cmd_vel_bridge
+- ros_topic_name: "cmd_vel"
+  gz_topic_name: "/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: ROS_TO_GZ
diff --git a/nav2_bringup/worlds/gz_waffle.sdf b/nav2_bringup/worlds/gz_waffle.sdf
new file mode 100644
index 0000000000..283dc4e4a7
--- /dev/null
+++ b/nav2_bringup/worlds/gz_waffle.sdf
@@ -0,0 +1,490 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+    <model name="turtlebot3_waffle"> 
+      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+      <link name="base_footprint"/>
+
+      <link name="base_link">
+
+        <inertial>
+          <pose>-0.064 0 0.048 0 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+
+        <collision name="base_collision">
+          <pose>-0.064 0 0.048 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.265 0.265 0.089</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <visual name="base_visual">
+          <pose>-0.064 0 0 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <diffuse>1 1 1</diffuse>
+          </material>
+        </visual>
+      </link>
+
+      <link name="imu_link">
+        <sensor name="tb3_imu" type="imu">
+          <always_on>true</always_on>
+          <update_rate>200</update_rate>
+          <topic>imu</topic>
+          <gz_frame_id>imu_link</gz_frame_id>
+          <imu>
+            <angular_velocity>
+              <x>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>2e-4</stddev>
+                </noise>
+              </x>
+              <y>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>2e-4</stddev>
+                </noise>
+              </y>
+              <z>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>2e-4</stddev>
+                </noise>
+              </z>
+            </angular_velocity>
+            <linear_acceleration>
+              <x>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>1.7e-2</stddev>
+                </noise>
+              </x>
+              <y>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>1.7e-2</stddev>
+                </noise>
+              </y>
+              <z>
+                <noise type="gaussian">
+                  <mean>0.0</mean>
+                  <stddev>1.7e-2</stddev>
+                </noise>
+              </z>
+            </linear_acceleration>
+          </imu>
+        </sensor>
+      </link>
+
+      <link name="base_scan">
+        <inertial>
+          <pose>-0.064 0 0.121 0 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>0.125</mass>
+        </inertial>
+
+        <collision name="lidar_sensor_collision">
+          <pose>-0.052 0 0.111 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.0508</radius>
+              <length>0.055</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="lidar_sensor_visual">
+          <pose>-0.064 0 0.121 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <diffuse>1 1 1</diffuse>
+          </material>
+        </visual>
+
+        <sensor name="hls_lfcd_lds" type="gpu_lidar">
+          <always_on>true</always_on>
+          <visualize>true</visualize>
+          <pose>-0.064 0 0.15 0 0 0</pose>
+          <update_rate>5</update_rate>
+          <topic>scan</topic>
+          <gz_frame_id>base_scan</gz_frame_id>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>360</samples>
+                <resolution>1.000000</resolution>
+                <min_angle>0.000000</min_angle>
+                <max_angle>6.280000</max_angle>
+              </horizontal>
+            </scan>
+            <range>
+              <min>0.00001</min>
+              <max>20.0</max>
+              <resolution>0.015000</resolution>
+            </range>
+            <noise>
+              <type>gaussian</type>
+              <mean>0.0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </ray>
+        </sensor>
+      </link>
+
+      <link name="wheel_left_link">
+
+        <inertial>
+          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>0.1</mass>
+        </inertial>
+
+        <collision name="wheel_left_collision">
+          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.033</radius>
+              <length>0.018</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
+                <fdir1>0 0 1</fdir1>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+5</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name="wheel_left_visual">
+          <pose>0.0 0.144 0.023 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <diffuse>1 1 1</diffuse>
+          </material>
+        </visual>
+      </link>
+
+      <link name="wheel_right_link">
+
+        <inertial>
+          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>0.1</mass>
+        </inertial>
+      
+        <collision name="wheel_right_collision">
+          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.033</radius>
+              <length>0.018</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
+                <fdir1>0 0 1</fdir1>
+              </ode>
+            </friction>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+5</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+
+        <visual name="wheel_right_visual">
+          <pose>0.0 -0.144 0.023 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+              <scale>0.001 0.001 0.001</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <diffuse>1 1 1</diffuse>
+          </material>
+        </visual>
+      </link>
+
+      <link name='caster_back_right_link'>
+        <pose>-0.177 -0.064 -0.004 0 0 0</pose>
+        <inertial>
+          <mass>0.001</mass>
+          <inertia>
+            <ixx>0.00001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.00001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.00001</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <sphere>
+              <radius>0.005000</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+5</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+
+      <link name='caster_back_left_link'>
+        <pose>-0.177 0.064 -0.004 0 0 0</pose>
+        <inertial>
+          <mass>0.001</mass>
+          <inertia>
+            <ixx>0.00001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.00001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.00001</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <sphere>
+              <radius>0.005000</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <contact>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+5</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0.001</min_depth>
+              </ode>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+
+      <link name="camera_link">
+        <inertial>
+          <pose>0.069 -0.047 0.107 0 0 0</pose>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.000</ixy>
+            <ixz>0.000</ixz>
+            <iyy>0.001</iyy>
+            <iyz>0.000</iyz>
+            <izz>0.001</izz>
+          </inertia>
+          <mass>0.035</mass>
+        </inertial>
+        <collision name="collision">
+          <pose>0 0.047 -0.005 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.130 0.022</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <pose>0.069 -0.047 0.107 0 0 0</pose>
+
+        <sensor name="intel_realsense_r200_depth" type="depth">
+          <always_on>1</always_on>
+          <update_rate>5</update_rate>
+          <pose>0.064 -0.047 0.107 0 0 0</pose>
+          <gz_frame_id>camera_depth_frame</gz_frame_id>
+          <camera name="realsense_depth_camera">
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>320</width>
+              <height>240</height>
+            </image>
+            <lens>
+              <projection>
+                <!-- focal_length = fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                <!-- tx = hackBaseline * focal_length -->
+                <tx>19.4</tx>
+              </projection>
+            </lens>
+            <depth_camera>
+              <clip>
+                <near>0.001</near>
+                <far>5.0</far>
+              </clip>
+            </depth_camera>
+          </camera>
+        </sensor>
+      </link>
+
+      <joint name="base_joint" type="fixed">
+        <parent>base_footprint</parent>
+        <child>base_link</child>
+        <pose>0.0 0.0 0.010 0 0 0</pose>
+      </joint>
+
+      <joint name="wheel_left_joint" type="revolute">
+        <parent>base_link</parent>
+        <child>wheel_left_link</child>
+        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+
+      <joint name="wheel_right_joint" type="revolute">
+        <parent>base_link</parent>
+        <child>wheel_right_link</child>
+        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+
+      <joint name='caster_back_right_joint' type='ball'>
+        <parent>base_link</parent>
+        <child>caster_back_right_link</child>
+      </joint>
+
+      <joint name='caster_back_left_joint' type='ball'>
+        <parent>base_link</parent>
+        <child>caster_back_left_link</child>
+      </joint>
+
+      <joint name="lidar_joint" type="fixed">
+        <parent>base_link</parent>
+        <child>base_scan</child>
+        <pose>-0.064 0 0.121 0 0 0</pose>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+
+      <joint name="camera_joint" type="fixed">
+        <parent>base_link</parent>
+        <child>camera_link</child>
+        <pose>0.064 -0.065 0.094 0 0 0</pose>
+        <axis>
+          <xyz>0 0 1</xyz>
+        </axis>
+      </joint>
+
+
+      <plugin
+        filename="gz-sim-diff-drive-system"
+        name="gz::sim::systems::DiffDrive">
+        <left_joint>wheel_left_joint</left_joint>
+        <right_joint>wheel_right_joint</right_joint>
+        <wheel_separation>0.287</wheel_separation>
+        <wheel_radius>0.033</wheel_radius>
+        <max_linear_acceleration>1</max_linear_acceleration>
+        <min_linear_acceleration>-1</min_linear_acceleration>
+        <max_angular_acceleration>2</max_angular_acceleration>
+        <min_angular_acceleration>-2</min_angular_acceleration>
+        <max_linear_velocity>0.46</max_linear_velocity>
+        <min_linear_velocity>-0.46</min_linear_velocity>
+        <max_angular_velocity>1.9</max_angular_velocity>
+        <min_angular_velocity>-1.9</min_angular_velocity>
+        <topic>/cmd_vel</topic>
+        <odom_topic>/odom</odom_topic>
+        <tf_topic>tf</tf_topic>
+        <frame_id>odom</frame_id>
+        <child_frame_id>base_footprint</child_frame_id>
+        <odom_publish_frequency>30</odom_publish_frequency>
+      </plugin>
+
+      <plugin
+        filename="gz-sim-joint-state-publisher-system"
+        name="gz::sim::systems::JointStatePublisher">
+        <joint_name>wheel_left_joint</joint_name>
+        <joint_name>wheel_right_joint</joint_name>
+        <topic>joint_states</topic>
+        <update_rate>30</update_rate>
+      </plugin>
+
+    </model>
+</sdf>
diff --git a/nav2_bringup/worlds/gz_world_only.sdf.xacro b/nav2_bringup/worlds/gz_world_only.sdf.xacro
new file mode 100644
index 0000000000..d93c7facf0
--- /dev/null
+++ b/nav2_bringup/worlds/gz_world_only.sdf.xacro
@@ -0,0 +1,89 @@
+<?xml version="1.0"?>
+<sdf version="1.6" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:arg name="headless" default="true"/>
+
+  <world name="default">
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+  <xacro:unless value="$(arg headless)">
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+  </xacro:unless>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+
+    <light name='sun' type='directional'>
+        <cast_shadows>0</cast_shadows>
+        <pose>0 0 10 0 0 0</pose>
+        <diffuse>0.8 0.8 0.8 1</diffuse>
+        <specular>0.8 0.8 0.8 1</specular>
+        <attenuation>
+            <range>1000</range>
+            <constant>0.9</constant>
+            <linear>0.01</linear>
+            <quadratic>0.001</quadratic>
+        </attenuation>
+        <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name='ground_plane'>
+        <static>1</static>
+        <link name='link'>
+            <collision name='collision'>
+                <geometry>
+                    <plane>
+                        <normal>0 0 1</normal>
+                        <size>100 100</size>
+                    </plane>
+                </geometry>
+                <max_contacts>10</max_contacts>
+            </collision>
+            <visual name='visual'>
+                <geometry>
+                    <plane>
+                        <normal>0 0 1</normal>
+                        <size>100 100</size>
+                    </plane>
+                </geometry>
+                <material>
+                    <ambient>0.8 0.8 0.8 1</ambient>
+                    <diffuse>0.8 0.8 0.8 1</diffuse>
+                    <specular>0.8 0.8 0.8 1</specular>
+                </material>
+            </visual>
+        </link>
+    </model>
+
+    <scene>
+      <shadows>0</shadows>
+    </scene>
+
+    <physics name='1ms' type='ode'>
+        <max_step_size>0.001</max_step_size>
+        <real_time_factor>1</real_time_factor>
+        <real_time_update_rate>1000.0</real_time_update_rate>
+    </physics>
+
+    <model name="turtlebot3_world">
+      <static>1</static>
+      <include>
+        <uri>model://turtlebot3_world</uri>
+      </include>
+    </model>
+
+  </world>
+</sdf>