diff --git a/mars_rover/worlds/mars_gale_crater_patch1.sdf b/mars_rover/worlds/mars_gale_crater_patch1.sdf
new file mode 100644
index 00000000..f4aeba6b
--- /dev/null
+++ b/mars_rover/worlds/mars_gale_crater_patch1.sdf
@@ -0,0 +1,250 @@
+
+
+
+
+ 0.001
+ 1.0
+
+
+
+
+
+
+
+
+ ogre2
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+ ogre2
+ scene
+ 0.4 0.4 0.4
+ 0.8 0.8 0.8
+ -6 0 6 0 0.5 0
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
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+
+
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+ false
+ 5
+ 5
+ floating
+ false
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+ false
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+ 5
+ floating
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+ false
+ 5
+ 5
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+ false
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+ 5
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+ false
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+ 5
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+ false
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+ false
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+ 5
+ floating
+ false
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+
+
+
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+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 1
+ floating
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+ floating
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
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+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
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+
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+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
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+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
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+ false
+ docked
+
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+
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+ false
+ docked
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+
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+
+
+
+ false
+ docked
+
+
+
+
+ 0 0 -3.711
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+
+ https://fuel.gazebosim.org/1.0/jasmeetsingh/models/Mars Gale Crater Patch 1
+
+
+
+
diff --git a/mars_rover/worlds/mars_gale_crater_patch2.sdf b/mars_rover/worlds/mars_gale_crater_patch2.sdf
new file mode 100644
index 00000000..d0e2f11b
--- /dev/null
+++ b/mars_rover/worlds/mars_gale_crater_patch2.sdf
@@ -0,0 +1,250 @@
+
+
+
+
+ 0.001
+ 1.0
+
+
+
+
+
+
+
+
+ ogre2
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+ ogre2
+ scene
+ 0.4 0.4 0.4
+ 0.8 0.8 0.8
+ -6 0 6 0 0.5 0
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
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+ false
+ 5
+ 5
+ floating
+ false
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+ false
+ 5
+ 5
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+ false
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+ false
+ 5
+ 5
+ floating
+ false
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+ false
+ 5
+ 5
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+ false
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+ false
+ 5
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+ floating
+ false
+
+
+
+
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+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 1
+ floating
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+ floating
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ docked
+
+
+
+
+
+
+ false
+ docked
+
+
+
+
+
+
+ false
+ docked
+
+
+
+
+ 0 0 -3.711
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+
+ https://fuel.gazebosim.org/1.0/jasmeetsingh/models/Mars Gale Crater Patch 2
+
+
+
+
diff --git a/mars_rover/worlds/moon_60s_30s.sdf b/mars_rover/worlds/moon_60s_30s.sdf
new file mode 100644
index 00000000..dc10516c
--- /dev/null
+++ b/mars_rover/worlds/moon_60s_30s.sdf
@@ -0,0 +1,250 @@
+
+
+
+
+ 0.001
+ 1.0
+
+
+
+
+
+
+
+
+ ogre2
+
+
+
+
+
+ 3D View
+ false
+ docked
+
+ ogre2
+ scene
+ 0.4 0.4 0.4
+ 0.8 0.8 0.8
+ -6 0 6 0 0.5 0
+
+
+
+
+
+ floating
+ 5
+ 5
+ false
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
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+ false
+ 5
+ 5
+ floating
+ false
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+
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+
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+ false
+ 5
+ 5
+ floating
+ false
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+ false
+ 5
+ 5
+ floating
+ false
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+
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+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+ false
+ 5
+ 5
+ floating
+ false
+
+
+
+
+
+
+ World control
+ false
+ false
+ 72
+ 1
+ floating
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ World stats
+ false
+ false
+ 110
+ 290
+ 1
+ floating
+
+
+
+
+
+ true
+ true
+ true
+ true
+
+
+
+
+
+ false
+ 0
+ 0
+ 250
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 250
+ 0
+ 150
+ 50
+ floating
+ false
+ #666666
+
+
+
+
+
+
+ false
+ 0
+ 50
+ 250
+ 50
+ floating
+ false
+ #777777
+
+
+
+
+
+
+ false
+ docked
+
+
+
+
+
+
+ false
+ docked
+
+
+
+
+
+
+ false
+ docked
+
+
+
+
+ 0 0 -1.62
+
+
+ true
+ 0 0 10 0 0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+
+
+ https://fuel.gazebosim.org/1.0/jasmeetsingh/models/Moon 60S 30S
+
+
+
+