diff --git a/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae b/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
new file mode 100755
index 000000000..d25fe4c37
--- /dev/null
+++ b/src/drivers/gazeboserver/models/hangar/meshes/hangar.dae
@@ -0,0 +1,1301 @@
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+    <contributor>
+      <author>Blender User</author>
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+    <modified>2018-04-18T10:09:22</modified>
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+          <technique_common>
+            <accessor source="#Plane_002-mesh-normals-array" count="435" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane_002-mesh-vertices">
+          <input semantic="POSITION" source="#Plane_002-mesh-positions"/>
+        </vertices>
+        <triangles material="Pilares-material" count="936">
+          <input semantic="VERTEX" source="#Plane_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane_002-mesh-normals" offset="1"/>
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+    </geometry>
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+        <triangles material="Vigas-material" count="1920">
+          <input semantic="VERTEX" source="#Plane_005-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane_005-mesh-normals" offset="1"/>
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10137 11150 5134 11150 5134 11069 10136 11069 5303 11069 5250 11256 8882 11256 3105 11256 1118 11257 3105 11257 8877 11257 5248 11156 10114 11156 5110 11156 5110 11157 10115 11157 5250 11157 1119 11258 5289 11258 8856 11258 3082 11259 8869 11259 5295 11259 5295 11130 10108 11130 5103 11130 5103 11260 10103 11260 5289 11260 5305 11261 8846 11261 3059 11261 1120 11262 3059 11262 8836 11262 5304 11263 10093 11263 5096 11263 5096 11264 10097 11264 5305 11264 5259 11265 8974 11265 3316 11265 1121 11266 3316 11266 8995 11266 5302 11267 10172 11267 5180 11267 5180 11268 10161 11268 5259 11268 5244 11269 8997 11269 3293 11269 1122 11270 3293 11270 9004 11270 5293 11218 10176 11218 5172 11218 5172 11271 10174 11271 5244 11271 5306 11272 8984 11272 3270 11272 1123 11273 3270 11273 8986 11273 5284 11150 10167 11150 5165 11150 5165 11151 10166 11151 5306 11151 5299 11274 8952 11274 3201 11274 1124 11275 3201 11275 8942 11275 5238 3685 10145 3685 5143 3685 5143 11039 10150 11039 5299 11039 5291 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11296 10140 11296 5138 11296 5138 11297 10132 11297 5312 11297 5222 11298 8886 11298 3117 11298 1133 11299 3117 11299 8876 11299 5214 11084 10113 11084 5115 11084 5115 11133 10117 11133 5222 11133 5270 11300 9042 11300 3351 11300 1134 11301 3351 11301 9038 11301 5310 3480 10193 3480 5192 3480 5192 11302 10195 11302 5270 11302 5314 11303 8975 11303 3282 11303 1135 11304 3282 11304 8992 11304 5313 11187 10170 11187 5169 11187 5169 11073 10162 11073 5314 11073 5211 11305 8894 11305 3190 11305 1136 11306 3190 11306 8915 11306 5312 11042 10132 11042 5139 11042 5139 11043 10121 11043 5211 11043 5262 3723 8917 3723 3167 3723 1137 11307 3167 11307 8924 11307 5303 11046 10136 11046 5131 11046 5131 11047 10134 11047 5262 11047 5226 2782 9767 2782 4447 2782 4447 2782 9762 2782 5315 2782 5200 2782 10199 2782 5226 2782 1139 11308 5213 11308 8889 11308 3121 11309 8891 11309 5300 11309 5300 11103 10119 11103 5116 11103 5116 11104 10118 11104 5213 11104 5307 11310 8855 11310 3098 11310 1140 11311 3098 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11353 1155 11354 5316 11354 10207 11354 1155 11355 5338 11355 10216 11355 5340 11356 10217 11356 5339 11356 5342 11357 10204 11357 5317 11357 1156 11358 5317 11358 10201 11358 5341 11359 10218 11359 5343 11359 1156 11360 5343 11360 10219 11360 1157 11361 5317 11361 10204 11361 5345 7599 10221 7599 2324 7599 2324 38 10220 38 5344 38 5344 11362 10201 11362 5317 11362 5351 11363 10231 11363 5358 11363 1158 11364 5358 11364 10230 11364 5350 11365 10225 11365 5349 11365 1158 11366 5349 11366 10228 11366 1159 11367 5361 11367 10233 11367 5353 11368 10228 11368 5349 11368 5349 11369 10225 11369 5352 11369 5352 11370 10232 11370 5361 11370 5355 11371 10237 11371 5367 11371 1160 11372 5367 11372 10236 11372 5354 11373 10227 11373 5348 11373 1160 11374 5348 11374 10224 11374 5357 11375 10241 11375 5373 11375 1161 11376 5373 11376 10240 11376 5356 11377 10230 11377 5358 11377 1161 11378 5358 11378 10231 11378 1162 11379 5364 11379 10235 11379 5360 11380 10233 11380 5361 11380 1162 11381 5361 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\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/hangar/model.config b/src/drivers/gazeboserver/models/hangar/model.config
new file mode 100644
index 000000000..f883b1f97
--- /dev/null
+++ b/src/drivers/gazeboserver/models/hangar/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Hangar</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The gymkhana hanger for drone exercises.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/hangar/model.sdf b/src/drivers/gazeboserver/models/hangar/model.sdf
new file mode 100644
index 000000000..80890eedc
--- /dev/null
+++ b/src/drivers/gazeboserver/models/hangar/model.sdf
@@ -0,0 +1,91 @@
+<?xml version='1.0'?>
+<sdf version="1.4">
+<model name="hangar">
+  <static>true</static>
+    <link name="hangar">
+    	<pose>0 0 0 0 0 0</pose>
+        <collision name="collision">
+            <geometry>
+	       <plane>
+		   <size>100 100</size>
+    	       </plane>
+            </geometry>
+        </collision>
+        <visual name="visual">
+            <geometry>
+               <mesh>
+                  <uri>model://hangar/meshes/hangar.dae</uri>
+               </mesh>
+            </geometry>
+        </visual>
+     </link>
+
+     <link name="roof">
+	<collision name="collision2">
+            <pose>0 2 6 0 1.57 0</pose>
+            <geometry>
+	       <box>
+		   <size>0.1 20 14</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+
+     <link name="hangar_wall5">
+	<collision name="collision2">
+            <pose>-4.9 -7.0 3 0 0 1.85</pose>
+            <geometry>
+	       <box>
+		   <size>0.1 4 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+     <link name="hangar_wall4">
+	<collision name="collision2">
+            <pose>4.9 -7.0 3 0 0 1.35</pose>
+            <geometry>
+	       <box>
+		   <size>0.1 4 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+     <link name="hangar_wall3">
+	<collision name="collision2">
+            <pose>0 12.3 3 0 0 1.57</pose>
+            <geometry>
+	       <box>
+		   <size>0.1 13.5 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+
+     <link name="hangar_wall2">
+	<collision name="collision2">
+            <pose>-6.8 2.5 3 0 0 0 </pose>
+            <geometry>
+	       <box>
+		   <size>0.1 20 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+
+     <link name="hangar_wall1">
+	<collision name="collision2">
+            <pose>6.8 2.5 3 0 0 0 </pose>
+            <geometry>
+	       <box>
+		   <size>0.1 20 6</size>
+    	       </box>
+            </geometry>
+        </collision>
+     </link>
+</model>
+</sdf>
diff --git a/src/drivers/gazeboserver/models/tree/materials/textures/coke_can.png b/src/drivers/gazeboserver/models/tree/materials/textures/coke_can.png
deleted file mode 100644
index 71d550a79..000000000
Binary files a/src/drivers/gazeboserver/models/tree/materials/textures/coke_can.png and /dev/null differ
diff --git a/src/drivers/gazeboserver/models/tree/meshes/tree.dae b/src/drivers/gazeboserver/models/tree/meshes/tree.dae
index 75eedeccf..6f5542c28 100644
--- a/src/drivers/gazeboserver/models/tree/meshes/tree.dae
+++ b/src/drivers/gazeboserver/models/tree/meshes/tree.dae
@@ -1,149 +1,3396 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
-    </contributor>
-    <created>2016-12-22T11:46:38</created>
-    <modified>2016-12-22T11:46:38</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images/>
-  <library_effects>
-    <effect id="Bark-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.64 0.64 0.64 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.1721312 0.1721312 0.1721312 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">10</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-        <extra>
-          <technique profile="GOOGLEEARTH">
-            <double_sided>1</double_sided>
-          </technique>
-        </extra>
-      </profile_COMMON>
-      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
-    </effect>
-    <effect id="Leaf-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.3219692 0.5070674 0 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.2722772 0.2722772 0.2722772 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">28</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-        <extra>
-          <technique profile="GOOGLEEARTH">
-            <double_sided>1</double_sided>
-          </technique>
-        </extra>
-      </profile_COMMON>
-      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="Bark-material" name="Bark">
-      <instance_effect url="#Bark-effect"/>
-    </material>
-    <material id="Leaf-material" name="Leaf">
-      <instance_effect url="#Leaf-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Mesh-mesh" name="Mesh">
-      <mesh>
-        <source id="Mesh-mesh-positions">
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42234 36014 42237 36014 42238 36014 42241 36015 42242 36015 42243 36015 42240 36016 42243 36016 42244 36016 42246 36017 42247 36017 42248 36017 42249 36018 42250 36018 42251 36018 42252 36019 42253 36019 42254 36019 42252 36020 42255 36020 42256 36020 42258 36021 42259 36021 42260 36021 42261 36022 42262 36022 42263 36022 42264 36023 42265 36023 42266 36023 42264 36024 42267 36024 42268 36024 42270 36025 42271 36025 42272 36025 42273 36026 42274 36026 42275 36026 42276 36027 42277 36027 42278 36027 42279 36028 42280 36028 42281 36028 42283 36029 42284 36029 42285 36029 42285 36030 42286 36030 42287 36030 42288 36031 42289 36031 42290 36031 42288 36032 42291 36032 42292 36032 42295 36033 42296 36033 42297 36033 42297 36034 42298 36034 42299 36034 42301 36035 42302 36035 42303 36035 42303 36036 42304 36036 42305 36036 42307 36037 42308 36037 42309 36037 42306 36038 42309 36038 42310 36038 42312 36039 42313 36039 42314 36039 42312 36040 42315 36040 42316 36040 42319 36041 42320 36041 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-      </mesh>
-      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="tree" name="tree" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#Mesh-mesh" name="tree">
-          <bind_material>
-            <technique_common>
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-              <instance_material symbol="Leaf-material" target="#Leaf-material"/>
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-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <authoring_tool>SketchUp 17.0.18899</authoring_tool>
+        </contributor>
+        <created>2018-04-18T10:50:17Z</created>
+        <modified>2018-04-18T10:50:17Z</modified>
+        <unit meter="0.0254" name="inch" />
+        <up_axis>Z_UP</up_axis>
+    </asset>
+    <library_cameras>
+        <camera id="ID1" name="skp_camera_Last_Saved_SketchUp_View">
+            <optics>
+                <technique_common>
+                    <perspective>
+                        <yfov>35</yfov>
+                        <aspect_ratio>0</aspect_ratio>
+                        <znear>1</znear>
+                        <zfar>1000</zfar>
+                    </perspective>
+                </technique_common>
+            </optics>
+        </camera>
+    </library_cameras>
+    <library_visual_scenes>
+        <visual_scene id="ID2">
+            <node name="SketchUp">
+                <node name="skp_camera_Last_Saved_SketchUp_View">
+                    <matrix>0.7513876 0.4182329 -0.51039 -269.6561 -0.6598611 0.4762442 -0.581184 -364.3496 1.94289e-16 0.773481 0.6338196 340.783 0 0 0 1</matrix>
+                    <instance_camera url="#ID1" />
+                </node>
+                <node id="ID3" name="instance_0">
+                    <matrix>1 0 0 -0.4274344 0 1 0 0.5539341 0 0 1 34.25197 0 0 0 1</matrix>
+                    <node id="ID4" name="instance_1">
+                        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+                        <instance_geometry url="#ID20">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
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+                            <bind_material>
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
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+                                    </instance_material>
+                                </technique_common>
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+                                <technique_common>
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
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+                        <instance_geometry url="#ID54">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
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+                            <bind_material>
+                                <technique_common>
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+                                    </instance_material>
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+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
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+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID102">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID108">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                </technique_common>
+                            </bind_material>
+                        </instance_geometry>
+                        <instance_geometry url="#ID126">
+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                </technique_common>
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+                            <bind_material>
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                </technique_common>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                </technique_common>
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+                            <bind_material>
+                                <technique_common>
+                                    <instance_material symbol="Material2" target="#ID21">
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+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                </technique_common>
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+                                    </instance_material>
+                                    <instance_material symbol="Material3" target="#ID26">
+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                            <bind_material>
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+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                                        <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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+                    </constant>
+                </technique>
+            </profile_COMMON>
+        </effect>
+    </library_effects>
+    <scene>
+        <instance_visual_scene url="#ID2" />
+    </scene>
+</COLLADA>
diff --git a/src/drivers/gazeboserver/models/tree/model.sdf b/src/drivers/gazeboserver/models/tree/model.sdf
index ecfdc5a10..c119ad144 100644
--- a/src/drivers/gazeboserver/models/tree/model.sdf
+++ b/src/drivers/gazeboserver/models/tree/model.sdf
@@ -1,6 +1,7 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
   <model name="tree">
+    <static>true</static>
     <pose>0 0 1 0 0 0</pose>
     <link name="link">
       <inertial>
diff --git a/src/drivers/gazeboserver/models/wall1/meshes/pared1.dae b/src/drivers/gazeboserver/models/wall1/meshes/pared1.dae
new file mode 100644
index 000000000..9bf640f6f
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall1/meshes/pared1.dae
@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T09:39:40</created>
+    <modified>2018-03-20T09:39:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Pared1-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 0 0.00205001 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Pared1-material" name="Pared1">
+      <instance_effect url="#Pared1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_003-mesh" name="Cube.003">
+      <mesh>
+        <source id="Cube_003-mesh-positions">
+          <float_array id="Cube_003-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_003-mesh-normals">
+          <float_array id="Cube_003-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_003-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_003-mesh-positions"/>
+        </vertices>
+        <triangles material="Pared1-material" count="12">
+          <input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
+          <p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_002" name="Cube_002" type="NODE">
+        <matrix sid="transform">1.027213 0 0 0 0 0.1027213 0 4 0 0 2.080106 2.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="Cube_002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pared1-material" target="#Pared1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/wall1/model.config b/src/drivers/gazeboserver/models/wall1/model.config
new file mode 100644
index 000000000..ef6df6233
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall1/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>wall1</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/wall1/model.sdf b/src/drivers/gazeboserver/models/wall1/model.sdf
new file mode 100644
index 000000000..cb671fbb0
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall1/model.sdf
@@ -0,0 +1,104 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='wall1'>
+    <link name='pared1'>
+      <pose frame=''>0 0 2.133 0 0 0</pose>
+      <inertial>
+        <mass>10000</mass>
+        <inertia>
+          <ixx>99999999999</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>99999999999</iyy>
+          <iyz>0</iyz>
+          <izz>99999999999</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <ambient>0 0 1 1</ambient>
+          <diffuse>0.3 0.3 0.8 1</diffuse>
+          <specular>0.01 0.1 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>100</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </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>
+    </link>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name="wall1plugin" filename="libwall1plugin.so"/>
+  </model>
+</sdf>
diff --git a/src/drivers/gazeboserver/models/wall2/meshes/pared2.dae b/src/drivers/gazeboserver/models/wall2/meshes/pared2.dae
new file mode 100644
index 000000000..3c806fd26
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall2/meshes/pared2.dae
@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T11:36:30</created>
+    <modified>2018-03-20T11:36:30</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Pared2-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 1 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Pared2-material" name="Pared2">
+      <instance_effect url="#Pared2-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles material="Pared2-material" count="12">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_001" name="Cube_001" type="NODE">
+        <matrix sid="transform">3.081639 0 0 0 0 0.1027213 0 -1 0 0 0.7704098 0.8400004 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="Cube_001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pared2-material" target="#Pared2-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/wall2/model.config b/src/drivers/gazeboserver/models/wall2/model.config
new file mode 100644
index 000000000..b777787be
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall2/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>wall2</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/wall2/model.sdf b/src/drivers/gazeboserver/models/wall2/model.sdf
new file mode 100644
index 000000000..2af7f3511
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall2/model.sdf
@@ -0,0 +1,105 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='wall3'>
+    <link name='pared1'>
+      <gravity>0</gravity>
+      <pose frame=''>0 0 1.2 0 0 0</pose>
+      <inertial>
+        <mass>10000</mass>
+        <inertia>
+          <ixx>99999999999</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>99999999999</iyy>
+          <iyz>0</iyz>
+          <izz>99999999999</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>6.266 0.150783 2.4</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <ambient>0 0 1 1</ambient>
+          <diffuse>0.3 0.3 0.8 1</diffuse>
+          <specular>0.1 0.1 0.005 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>6.266 0.150783 2.4</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>100</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </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>
+    </link>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name="wall2plugin" filename="libwall2plugin.so"/>
+  </model>
+</sdf>
diff --git a/src/drivers/gazeboserver/models/wall3/meshes/pared3.dae b/src/drivers/gazeboserver/models/wall3/meshes/pared3.dae
new file mode 100644
index 000000000..d9ae639fe
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall3/meshes/pared3.dae
@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T11:39:09</created>
+    <modified>2018-03-20T11:39:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Pared3-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.003006209 0 1 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Pared3-material" name="Pared3">
+      <instance_effect url="#Pared3-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_004-mesh" name="Cube.004">
+      <mesh>
+        <source id="Cube_004-mesh-positions">
+          <float_array id="Cube_004-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_004-mesh-normals">
+          <float_array id="Cube_004-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_004-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_004-mesh-positions"/>
+        </vertices>
+        <triangles material="Pared3-material" count="12">
+          <input semantic="VERTEX" source="#Cube_004-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_004-mesh-normals" offset="1"/>
+          <p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_003" name="Cube_003" type="NODE">
+        <matrix sid="transform">1.027213 0 0 1.045155 0 0.1027213 0 -6 0 0 1.54082 1.6 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="Cube_003">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pared3-material" target="#Pared3-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/wall3/model.config b/src/drivers/gazeboserver/models/wall3/model.config
new file mode 100644
index 000000000..fac17d5dd
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall3/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>wall3</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/wall3/model.sdf b/src/drivers/gazeboserver/models/wall3/model.sdf
new file mode 100644
index 000000000..eb3185324
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall3/model.sdf
@@ -0,0 +1,104 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='wall3'>
+    <link name='pared1'>
+      <pose frame=''>0 0 2.133 0 0 0</pose>
+      <inertial>
+        <mass>10000</mass>
+        <inertia>
+          <ixx>99999999999</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>99999999999</iyy>
+          <iyz>0</iyz>
+          <izz>99999999999</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <ambient>0 0 1 1</ambient>
+          <diffuse>0.3 0.3 0.8 1</diffuse>
+          <specular>0.1 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>100</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </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>
+    </link>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name="wall3plugin" filename="libwall3plugin.so"/>
+  </model>
+</sdf>
diff --git a/src/drivers/gazeboserver/models/wall4/meshes/pared4.dae b/src/drivers/gazeboserver/models/wall4/meshes/pared4.dae
new file mode 100644
index 000000000..b5a0b9910
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall4/meshes/pared4.dae
@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-03-20T11:39:29</created>
+    <modified>2018-03-20T11:39:29</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Pared3-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.003006209 0 1 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Pared3-material" name="Pared3">
+      <instance_effect url="#Pared3-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="Pared3-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <p>0 0 2 0 3 0 7 1 5 1 4 1 4 2 1 2 0 2 5 3 2 3 1 3 2 4 7 4 3 4 0 5 7 5 4 5 0 6 1 6 2 6 7 7 6 7 5 7 4 8 5 8 1 8 5 9 6 9 2 9 2 10 6 10 7 10 0 11 3 11 7 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1.027213 0 0 -1.084647 0 0.1027213 0 -6 0 0 1.54082 1.6 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Pared3-material" target="#Pared3-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/src/drivers/gazeboserver/models/wall4/model.config b/src/drivers/gazeboserver/models/wall4/model.config
new file mode 100644
index 000000000..4eacb03ed
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall4/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>wall4</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>Alvaro Villamil</name>
+    <email>a.villamil@hotmail.com</email>
+  </author>
+
+  <description>
+    The F1 Monaco track without elevations.
+  </description>
+</model>
diff --git a/src/drivers/gazeboserver/models/wall4/model.sdf b/src/drivers/gazeboserver/models/wall4/model.sdf
new file mode 100644
index 000000000..f5fbf9ecf
--- /dev/null
+++ b/src/drivers/gazeboserver/models/wall4/model.sdf
@@ -0,0 +1,104 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='wall4'>
+    <link name='pared1'>
+      <pose frame=''>0 0 2.133 0 0 0</pose>
+      <inertial>
+        <mass>10000</mass>
+        <inertia>
+          <ixx>99999999999</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>99999999999</iyy>
+          <iyz>0</iyz>
+          <izz>99999999999</izz>
+        </inertia>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+      </inertial>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <gravity>1</gravity>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>Gazebo/Grey</name>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+          </script>
+          <ambient>0 0 1 1</ambient>
+          <diffuse>0.3 0.3 0.8 1</diffuse>
+          <specular>0.1 0.01 0.01 1</specular>
+          <emissive>0 0 0 1</emissive>
+          <shader type='vertex'>
+            <normal_map>__default__</normal_map>
+          </shader>
+        </material>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.150783 4.266</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>100</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </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>
+    </link>
+    <static>0</static>
+    <allow_auto_disable>1</allow_auto_disable>
+    <plugin name="wall4plugin" filename="libwall4plugin.so"/>
+  </model>
+</sdf>
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/CMakeLists.txt b/src/drivers/gazeboserver/plugins/gymkhana/CMakeLists.txt
new file mode 100644
index 000000000..51ea8fa5b
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/CMakeLists.txt
@@ -0,0 +1,39 @@
+include_directories(
+	${GAZEBO_INCLUDE_DIRS}
+    ${INTERFACES_CPP_DIR}
+    ${LIBS_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+link_directories(
+    ${GAZEBO_LIBRARY_DIRS}
+)
+#boost_system 
+add_library(wall1plugin SHARED wall1.cc)
+target_link_libraries(wall1plugin 
+	${GAZEBO_libraries} 
+)
+
+add_library(wall2plugin SHARED wall2.cc)
+target_link_libraries(wall2plugin 
+	${GAZEBO_libraries} 
+)
+
+add_library(wall3plugin SHARED wall3.cc)
+target_link_libraries(wall3plugin 
+	${GAZEBO_libraries} 
+)
+
+add_library(wall4plugin SHARED wall4.cc)
+target_link_libraries(wall4plugin 
+	${GAZEBO_libraries} 
+)
+
+INSTALL (TARGETS wall1plugin wall2plugin wall3plugin wall4plugin DESTINATION share/jderobot/gazebo/plugins/gymkhana/ COMPONENT gazeboserver)
+FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf/ COMPONENT gazeboserver)
+
+
+
+
+
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc
new file mode 100644
index 000000000..2f9572433
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall1.cc
@@ -0,0 +1,53 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+	class Wall1 : public ModelPlugin {
+
+		private: math::Pose pose;
+		private: bool flag;
+		private: double vel1; 
+		private: double vel2; 
+
+		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+			this->model = _parent;
+			flag = true;
+			this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+				boost::bind(&Wall1::OnUpdate, this, _1));
+			std::cout << "Loading wall 1" << std::endl;
+			this->vel1 = 0.5 + double(rand())/RAND_MAX*1.5;
+			this->vel2 = (0.5 + double(rand())/RAND_MAX*1.5)*-1;
+			
+		}
+
+		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(this->vel1, 0, 0));
+			}
+			if ( pose.pos.x >=4 ) {
+				pose.pos.x = 4;
+				this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(this->vel2, 0, 0));
+			}	
+			if ( pose.pos.x <=-4 ) {
+				pose.pos.x = -4;
+				this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+	};
+	GZ_REGISTER_MODEL_PLUGIN(Wall1)
+}
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc
new file mode 100644
index 000000000..5b036c1a9
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall2.cc
@@ -0,0 +1,52 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+	class Wall2 : public ModelPlugin {
+
+		private: math::Pose pose;
+		private: bool flag;
+		private: double vel1; 
+		private: double vel2; 
+
+		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+			this->model = _parent;
+			flag = true;
+			this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+				boost::bind(&Wall2::OnUpdate, this, _1));
+			std::cout << "Loading wall 2" << std::endl;
+			this->vel1 = 0.5 + double(rand())/RAND_MAX*1.5;
+			this->vel2 = (0.5 + double(rand())/RAND_MAX*1.5)*-1;
+		}
+
+		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(0, 0, this->vel1));
+			}
+			if ( pose.pos.z >= 2.8 ) {
+				pose.pos.z = 2.8;
+				this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(0, 0, this->vel2));
+			}	
+			if ( pose.pos.z <= 0) {
+				pose.pos.z = 0;
+				this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+	};
+	GZ_REGISTER_MODEL_PLUGIN(Wall2)
+}
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc
new file mode 100644
index 000000000..a58cc9607
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall3.cc
@@ -0,0 +1,53 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+	class Wall3 : public ModelPlugin {
+
+		private: math::Pose pose;
+		private: bool flag;
+		private: double vel1; 
+		private: double vel2; 
+
+		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+			this->model = _parent;
+			flag = true;
+			this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+				boost::bind(&Wall3::OnUpdate, this, _1));
+			std::cout << "Loading wall 3" << std::endl;
+			this->vel1 = 0.5 + double(rand())/RAND_MAX*1.5;
+			this->vel2 = (0.5 + double(rand())/RAND_MAX*1.5)*-1;
+			
+		}
+
+		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(this->vel1, 0, 0));
+			}
+			if ( pose.pos.x >=4 ) {
+				pose.pos.x = 4;
+				this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(this->vel2, 0, 0));
+			}	
+			if ( pose.pos.x <= 1.25 ) {
+				pose.pos.x = 1.25;
+				this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+	};
+	GZ_REGISTER_MODEL_PLUGIN(Wall3)
+}
diff --git a/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc b/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc
new file mode 100644
index 000000000..87f8ce9c5
--- /dev/null
+++ b/src/drivers/gazeboserver/plugins/gymkhana/wall4.cc
@@ -0,0 +1,53 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+#include <iostream>
+
+namespace gazebo
+{
+  	class Wall4 : public ModelPlugin {
+
+		private: math::Pose pose;
+  		private: bool flag;
+		private: double vel1; 
+		private: double vel2; 
+
+  		public: void Load(physics::ModelPtr _parent, sdf::ElementPtr ) {
+      			this->model = _parent;
+			flag = true;
+	  		this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+          		boost::bind(&Wall4::OnUpdate, this, _1));
+			std::cout << "Loading wall 4" << std::endl;
+			this->vel1 = 0.5 + double(rand())/RAND_MAX*1.5;
+			this->vel2 = (0.5 + double(rand())/RAND_MAX*1.5)*-1;
+			
+		}
+
+    		public: void OnUpdate(const common::UpdateInfo & ) {
+			pose = this->model->GetWorldPose();
+
+			if  (flag) {
+				this->model->SetLinearVel(math::Vector3(this->vel2, 0, 0));
+			}
+			if ( pose.pos.x <=-4 ) {
+			        pose.pos.x = -4;
+			        this->model->SetWorldPose(pose);
+				flag = false;
+			}
+			if (!flag) {
+				this->model->SetLinearVel(math::Vector3(this->vel1, 0, 0));
+			}	
+			if ( pose.pos.x >= -1.25 ) {
+			        pose.pos.x = -1.25;
+			        this->model->SetWorldPose(pose);
+				flag = true;
+			}
+
+		}
+		private: physics::ModelPtr model;
+		private: event::ConnectionPtr updateConnection;
+  	};
+  	GZ_REGISTER_MODEL_PLUGIN(Wall4)
+}
diff --git a/src/drivers/gazeboserver/worlds/gymkhana-simple.world b/src/drivers/gazeboserver/worlds/gymkhana-simple.world
new file mode 100644
index 000000000..749b805bb
--- /dev/null
+++ b/src/drivers/gazeboserver/worlds/gymkhana-simple.world
@@ -0,0 +1,235 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <!-- Ground -->
+    <include>
+      <uri>model://hangar</uri>
+      <pose>0 -2 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <include>
+      <uri>model://grass_plane</uri>
+    </include>
+
+    <!-- Black ArDrone -->   
+    <include>
+      <name>ardrone-black</name>
+      <uri>model://ArDrone2</uri>
+      <pose>0 9.5 0.1 0 0 -1.57</pose>
+    </include>
+
+    <!-- Red ArDrone -->
+    <include>
+      <name>ardrone-red</name>
+      <uri>model://RedArDrone2</uri>
+      <pose>0 -10 0.1 0 0 0</pose>
+     </include>
+
+     <include>
+      <uri>model://wall1</uri>
+      <pose>0 8 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall2</uri>
+      <pose>0 0 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall3</uri>
+      <pose>0 -6 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall4</uri>
+      <pose>0 -6 0 0 0 0</pose>
+    </include>
+
+    <light name='user_point_light_0' type='point'>
+      <pose frame=''>7.53258 -10.5204 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>37</range>
+        <constant>1</constant>
+        <linear>0.05</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_0_clone' type='point'>
+      <pose frame=''>-13.5592 -18.4336 10 0 -0 0</pose>
+      <diffuse>0.498039 0.498039 0.498039 1</diffuse>
+      <specular>0 0 0 1</specular>
+      <direction>0 0 -1</direction>
+      <attenuation>
+        <range>37</range>
+        <constant>1</constant>
+        <linear>0.05</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>1</cast_shadows>
+    </light>
+    <light name='user_point_light_1' type='point'>
+      <pose frame=''>-11.0322 15.4092 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_2' type='point'>
+      <pose frame=''>7.67436 15.2643 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_3' type='point'>
+      <pose frame=''>-13.7195 0.042174 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_4' type='point'>
+      <pose frame=''>12.95 2.24523 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <state world_name='default'>
+      
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_0'>
+        <pose frame=''>10 -30 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_0_clone'>
+        <pose frame=''>-10 -30 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_1'>
+        <pose frame=''>-11.0322 15.4092 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_2'>
+        <pose frame=''>7.67436 15.2643 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_3'>
+        <pose frame=''>-13.7195 0.042174 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_4'>
+        <pose frame=''>12.95 2.24523 1 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>-10.5394 -103.514 31.8675 0 0.275642 1.23938</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <scene>
+	<sky>
+	    <clouds>
+		<speed>12</speed>
+	    </clouds>
+        </sky>
+     </scene>
+
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>-75 0 -0.5 0 0 0</pose>
+      <box>
+        <size>30 100 .01</size>
+      </box>
+      <model_count>10</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>0 75 -0.5 0 0 0</pose>
+      <box>
+        <size>100 30 .01</size>
+      </box>
+      <model_count>10</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>75 0 -0.5 0 0 0</pose>
+      <box>
+        <size>30 100 .01</size>
+      </box>
+      <model_count>10</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>0 -75 -0.5 0 0 0</pose>
+      <box>
+        <size>100 30 .01</size>
+      </box>
+      <model_count>10</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+	
+  </world>
+</sdf>
+
diff --git a/src/drivers/gazeboserver/worlds/gymkhana.world b/src/drivers/gazeboserver/worlds/gymkhana.world
new file mode 100644
index 000000000..5fba26129
--- /dev/null
+++ b/src/drivers/gazeboserver/worlds/gymkhana.world
@@ -0,0 +1,235 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <!-- Ground -->
+    <include>
+      <uri>model://hangar</uri>
+      <pose>0 -2 0 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <include>
+      <uri>model://grass_plane</uri>
+    </include>
+
+    <!-- Black ArDrone -->   
+    <include>
+      <name>ardrone-black</name>
+      <uri>model://ArDrone2</uri>
+      <pose>0 9.5 0.1 0 0 -1.57</pose>
+    </include>
+
+    <!-- Red ArDrone -->
+    <include>
+      <name>ardrone-red</name>
+      <uri>model://RedArDrone2</uri>
+      <pose>0 -10 0.1 0 0 0</pose>
+     </include>
+
+     <include>
+      <uri>model://wall1</uri>
+      <pose>0 8 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall2</uri>
+      <pose>0 0 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall3</uri>
+      <pose>0 -6 0 0 0 0</pose>
+    </include>
+    
+    <include>
+      <uri>model://wall4</uri>
+      <pose>0 -6 0 0 0 0</pose>
+    </include>
+
+    <light name='user_point_light_0' type='point'>
+      <pose frame=''>7.53258 -10.5204 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>37</range>
+        <constant>1</constant>
+        <linear>0.05</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_0_clone' type='point'>
+      <pose frame=''>-13.5592 -18.4336 10 0 -0 0</pose>
+      <diffuse>0.498039 0.498039 0.498039 1</diffuse>
+      <specular>0 0 0 1</specular>
+      <direction>0 0 -1</direction>
+      <attenuation>
+        <range>37</range>
+        <constant>1</constant>
+        <linear>0.05</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>1</cast_shadows>
+    </light>
+    <light name='user_point_light_1' type='point'>
+      <pose frame=''>-11.0322 15.4092 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_2' type='point'>
+      <pose frame=''>7.67436 15.2643 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_3' type='point'>
+      <pose frame=''>-13.7195 0.042174 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name='user_point_light_4' type='point'>
+      <pose frame=''>12.95 2.24523 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>0</cast_shadows>
+      <direction>0 0 -1</direction>
+    </light>
+    <state world_name='default'>
+      
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_0'>
+        <pose frame=''>10 -30 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_0_clone'>
+        <pose frame=''>-10 -30 10 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_1'>
+        <pose frame=''>-11.0322 15.4092 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_2'>
+        <pose frame=''>7.67436 15.2643 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_3'>
+        <pose frame=''>-13.7195 0.042174 1 0 -0 0</pose>
+      </light>
+      <light name='user_point_light_4'>
+        <pose frame=''>12.95 2.24523 1 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>-10.5394 -103.514 31.8675 0 0.275642 1.23938</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <scene>
+	<sky>
+	    <clouds>
+		<speed>12</speed>
+	    </clouds>
+        </sky>
+     </scene>
+
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>-75 0 -0.5 0 0 0</pose>
+      <box>
+        <size>30 100 .01</size>
+      </box>
+      <model_count>60</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>0 75 -0.5 0 0 0</pose>
+      <box>
+        <size>100 30 .01</size>
+      </box>
+      <model_count>60</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>75 0 -0.5 0 0 0</pose>
+      <box>
+        <size>30 100 .01</size>
+      </box>
+      <model_count>60</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+
+<!-- Testing the automatic population of objects -->
+    <population name="tree_population1">
+       <include>
+          <static>true</static>
+          <uri>model://tree</uri>
+       </include>
+      <pose>0 -75 -0.5 0 0 0</pose>
+      <box>
+        <size>100 30 .01</size>
+      </box>
+      <model_count>60</model_count>
+      <distribution>
+        <type>random</type>
+      </distribution>
+    </population>
+	
+  </world>
+</sdf>
+