From 1527a8ce093113cddf3a4615c13c6774e9a36fe5 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 19 Jan 2021 16:02:35 +0100
Subject: [PATCH 1/6] Publish ground truth robot position as dynamic TF.

---
 ign_migration_scripts/launch/preview.ign      | 24 +++++++++-
 .../scripts/spawn_preview_model.py            | 14 +++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../launch/spawner.rb                         | 12 ++++-
 .../ssci_x2_sensor_config_1/launch/spawner.rb | 12 ++++-
 .../ssci_x4_sensor_config_1/launch/spawner.rb | 12 ++++-
 .../ssci_x4_sensor_config_2/launch/spawner.rb | 12 ++++-
 .../x1_sensor_config_6/launch/spawner.rb      | 12 ++++-
 .../x2_sensor_config_7/launch/spawner.rb      | 12 ++++-
 .../x3_sensor_config_5/launch/spawner.rb      | 12 ++++-
 .../x4_sensor_config_6/launch/spawner.rb      | 12 ++++-
 subt_ign/launch/cave_circuit.ign              | 24 +++++++++-
 subt_ign/launch/cloudsim_sim.ign              | 24 +++++++++-
 subt_ign/launch/competition.ign               | 24 +++++++++-
 subt_ign/launch/competition_no_ros.ign        | 48 +++++++++++++++++--
 subt_ign/launch/tunnel_circuit_practice.ign   | 24 +++++++++-
 subt_ign/launch/urban_circuit.ign             | 24 +++++++++-
 subt_ign/launch/virtual_stix.ign              | 48 +++++++++++++++++--
 subt_ign/launch/virtual_stix_headless.ign     | 48 +++++++++++++++++--
 subt_ign/test/test.ign                        | 48 +++++++++++++++++--
 45 files changed, 695 insertions(+), 63 deletions(-)

diff --git a/ign_migration_scripts/launch/preview.ign b/ign_migration_scripts/launch/preview.ign
index e0c13ca0..42109dc6 100644
--- a/ign_migration_scripts/launch/preview.ign
+++ b/ign_migration_scripts/launch/preview.ign
@@ -209,11 +209,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
         </include>
       </sdf>
@@ -258,11 +268,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
             name="ignition::gazebo::systems::MulticopterMotorModel">
             <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/ign_migration_scripts/scripts/spawn_preview_model.py b/ign_migration_scripts/scripts/spawn_preview_model.py
index 5d64a928..e2fe426e 100755
--- a/ign_migration_scripts/scripts/spawn_preview_model.py
+++ b/ign_migration_scripts/scripts/spawn_preview_model.py
@@ -73,11 +73,23 @@ def spawn_preview_model(args):
     etree.SubElement(plugin, 'publish_sensor_pose').text = 'true'
     etree.SubElement(plugin, 'publish_collision_pose').text = 'false'
     etree.SubElement(plugin, 'publish_visual_pose').text = 'false'
-    etree.SubElement(plugin, 'publish_nested_model_pose').text = 'true'
+    etree.SubElement(plugin, 'publish_nested_model_pose').text = 'false'
     etree.SubElement(plugin, 'use_pose_vector_msg').text = 'true'
     etree.SubElement(plugin, 'static_publisher').text = 'true'
     etree.SubElement(plugin, 'static_update_frequency').text = '1'
 
+    plugin = etree.SubElement(model, 'plugin',
+                    filename='libignition-gazebo-pose-publisher-system.so',
+                    name='ignition::gazebo::systems::PosePublisher')
+
+    etree.SubElement(plugin, 'publish_link_pose').text = 'false'
+    etree.SubElement(plugin, 'publish_sensor_pose').text = 'false'
+    etree.SubElement(plugin, 'publish_collision_pose').text = 'false'
+    etree.SubElement(plugin, 'publish_visual_pose').text = 'false'
+    etree.SubElement(plugin, 'publish_nested_model_pose').text = 'true'
+    etree.SubElement(plugin, 'use_pose_vector_msg').text = 'true'
+    etree.SubElement(plugin, 'static_publisher').text = 'false'
+
     sdf_esc = etree.tostring(sdf, encoding="unicode",
                              with_tail=False).replace('"', r'\"').replace('\n', '')
 
diff --git a/submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb
index cdeca0c7..fe5d17d9 100644
--- a/submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb
@@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-joint-state-publisher-system.so"
         name="ignition::gazebo::systems::JointStatePublisher">
       </plugin>
diff --git a/submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb b/submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb
index 2e14fbc2..318e7868 100644
--- a/submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb
@@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-joint-state-publisher-system.so"
         name="ignition::gazebo::systems::JointStatePublisher">
       </plugin>
diff --git a/submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb
index 75c20842..11e70614 100755
--- a/submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb
index 44958be7..c8642053 100755
--- a/submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb
@@ -42,11 +42,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
index 50a215e1..0bef6e80 100644
--- a/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
index 7c010a58..44be8de4 100644
--- a/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
index 10b8d567..15036ea3 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
@@ -64,11 +64,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_pose_publisher>true</static_pose_publisher>
         <static_pose_update_frequency>1</static_pose_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
 
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
index 2cc7f1f5..3be36704 100644
--- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
@@ -64,11 +64,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_pose_publisher>true</static_pose_publisher>
         <static_pose_update_frequency>1</static_pose_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
 
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb
index 86877d8c..f7fc32a7 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb
@@ -104,11 +104,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb
index a754d02c..e9fbf13e 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb
@@ -104,11 +104,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb
index 01e42a5d..f6c940ac 100755
--- a/submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb
index ff0bbbd2..6d7b77fc 100644
--- a/submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb
index f25486cd..806e8a6b 100644
--- a/submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb
index ae4114e7..a4121290 100644
--- a/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
index 0cc2ce82..2bc9a12b 100644
--- a/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
index a0b8bf25..ea79f71a 100644
--- a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb
@@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
index 4742334d..a7b738bd 100644
--- a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb
@@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
index f4559e6d..8fe792f3 100644
--- a/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_husky_sensor_config_2/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_2/launch/spawner.rb
index 85d0ef2a..6c59844a 100644
--- a/submitted_models/marble_husky_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/marble_husky_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
index a0ab02aa..8760f8bb 100755
--- a/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/marble_qav500_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
index 44296220..b52c1544 100644
--- a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb
index 82cdc9fb..45bf05eb 100644
--- a/submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/robotika_freyja_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb
index 9c0f42d3..a058c31e 100644
--- a/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_kloubak_sensor_config_1/launch/spawner.rb
@@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb b/submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb
index b3cdd1c6..8458ba2f 100644
--- a/submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/robotika_kloubak_sensor_config_2/launch/spawner.rb
@@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
index 9b5c3460..99f6b76c 100644
--- a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb b/submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb
index 5032277c..181f2a08 100644
--- a/submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb
@@ -34,11 +34,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb b/submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb
index f6731782..5b784715 100644
--- a/submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb
@@ -19,11 +19,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb b/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb
index 7f8ca08b..02cd3571 100755
--- a/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb
@@ -46,11 +46,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb b/submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb
index e6f6bacb..4593e079 100755
--- a/submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb
@@ -41,11 +41,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb b/submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb
index 574df7d4..bca50c46 100755
--- a/submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb
@@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/x1_sensor_config_6/launch/spawner.rb b/submitted_models/x1_sensor_config_6/launch/spawner.rb
index 6441e890..eb938747 100644
--- a/submitted_models/x1_sensor_config_6/launch/spawner.rb
+++ b/submitted_models/x1_sensor_config_6/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/x2_sensor_config_7/launch/spawner.rb b/submitted_models/x2_sensor_config_7/launch/spawner.rb
index d79e59d8..d713cb2d 100644
--- a/submitted_models/x2_sensor_config_7/launch/spawner.rb
+++ b/submitted_models/x2_sensor_config_7/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/x3_sensor_config_5/launch/spawner.rb b/submitted_models/x3_sensor_config_5/launch/spawner.rb
index 13091559..6e346e41 100644
--- a/submitted_models/x3_sensor_config_5/launch/spawner.rb
+++ b/submitted_models/x3_sensor_config_5/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/x4_sensor_config_6/launch/spawner.rb b/submitted_models/x4_sensor_config_6/launch/spawner.rb
index 02d0e3d4..4ce9a881 100644
--- a/submitted_models/x4_sensor_config_6/launch/spawner.rb
+++ b/submitted_models/x4_sensor_config_6/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index 487610ad..5069367f 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -707,11 +707,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
@@ -849,11 +859,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index a906d60c..126df538 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -584,11 +584,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
@@ -726,11 +736,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index 08620425..e8f7bbe5 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -508,11 +508,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
@@ -650,11 +660,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/subt_ign/launch/competition_no_ros.ign b/subt_ign/launch/competition_no_ros.ign
index 8760e206..91544f6a 100644
--- a/subt_ign/launch/competition_no_ros.ign
+++ b/subt_ign/launch/competition_no_ros.ign
@@ -430,11 +430,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <!-- Battery plugin -->\n"\
     "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
@@ -497,11 +507,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <!-- Battery plugin -->\n"\
     "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
@@ -550,11 +570,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\
     "      <robotNamespace>model/#{_name}</robotNamespace>\n"\
@@ -733,11 +763,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\
     "      <robotNamespace>model/#{_name}</robotNamespace>\n"\
diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign
index dd09f821..ce505330 100644
--- a/subt_ign/launch/tunnel_circuit_practice.ign
+++ b/subt_ign/launch/tunnel_circuit_practice.ign
@@ -511,11 +511,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
@@ -653,11 +663,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign
index eb4a04ac..db86807c 100644
--- a/subt_ign/launch/urban_circuit.ign
+++ b/subt_ign/launch/urban_circuit.ign
@@ -511,11 +511,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
@@ -653,11 +663,21 @@
             <publish_sensor_pose>true</publish_sensor_pose>
             <publish_collision_pose>false</publish_collision_pose>
             <publish_visual_pose>false</publish_visual_pose>
-            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <publish_nested_model_pose>false</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
             <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
+          <plugin filename="libignition-gazebo-pose-publisher-system.so"
+            name="ignition::gazebo::systems::PosePublisher">
+            <publish_link_pose>false</publish_link_pose>
+            <publish_sensor_pose>false</publish_sensor_pose>
+            <publish_collision_pose>false</publish_collision_pose>
+            <publish_visual_pose>false</publish_visual_pose>
+            <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+            <use_pose_vector_msg>true</use_pose_vector_msg>
+            <static_publisher>false</static_publisher>
+          </plugin>
           <!-- Battery plugin -->
           <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
             name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/subt_ign/launch/virtual_stix.ign b/subt_ign/launch/virtual_stix.ign
index 6ba2137d..6a101648 100644
--- a/subt_ign/launch/virtual_stix.ign
+++ b/subt_ign/launch/virtual_stix.ign
@@ -395,11 +395,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <!-- Battery plugin -->\n"\
     "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
@@ -468,11 +478,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <!-- Battery plugin -->\n"\
     "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
@@ -527,11 +547,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\
     "      <robotNamespace>model/#{_name}</robotNamespace>\n"\
@@ -716,11 +746,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\
     "      <robotNamespace>model/#{_name}</robotNamespace>\n"\
diff --git a/subt_ign/launch/virtual_stix_headless.ign b/subt_ign/launch/virtual_stix_headless.ign
index 2250fb1d..69ebb922 100644
--- a/subt_ign/launch/virtual_stix_headless.ign
+++ b/subt_ign/launch/virtual_stix_headless.ign
@@ -305,11 +305,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <!-- Battery plugin -->\n"\
     "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
@@ -378,11 +388,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <!-- Battery plugin -->\n"\
     "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
@@ -437,11 +457,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\
     "      <robotNamespace>model/#{_name}</robotNamespace>\n"\
@@ -626,11 +656,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\
     "      <robotNamespace>model/#{_name}</robotNamespace>\n"\
diff --git a/subt_ign/test/test.ign b/subt_ign/test/test.ign
index 33dd5dd0..a7dde393 100644
--- a/subt_ign/test/test.ign
+++ b/subt_ign/test/test.ign
@@ -324,11 +324,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <!-- Battery plugin -->\n"\
     "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
@@ -390,11 +400,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <!-- Battery plugin -->\n"\
     "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
@@ -442,11 +462,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\
     "      <robotNamespace>model/#{_name}</robotNamespace>\n"\
@@ -573,11 +603,21 @@
     "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
     "      <publish_collision_pose>false</publish_collision_pose>\n"\
     "      <publish_visual_pose>false</publish_visual_pose>\n"\
-    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <publish_nested_model_pose>false</publish_nested_model_pose>\n"\
     "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
     "      <static_publisher>true</static_publisher>\n"\
     "      <static_update_frequency>1</static_update_frequency>\n"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
+    "      <publish_link_pose>false</publish_link_pose>\n"\
+    "      <publish_sensor_pose>false</publish_sensor_pose>\n"\
+    "      <publish_collision_pose>false</publish_collision_pose>\n"\
+    "      <publish_visual_pose>false</publish_visual_pose>\n"\
+    "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
+    "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
+    "      <static_publisher>false</static_publisher>\n"\
+    "    </plugin>\n"\
     "    <plugin filename=\"libignition-gazebo-multicopter-motor-model-system.so\"\n"\
     "      name=\"ignition::gazebo::systems::MulticopterMotorModel\">\n"\
     "      <robotNamespace>model/#{_name}</robotNamespace>\n"\

From ef61729197c082fc7e4a95360f65b4b1c875fc25 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 9 Feb 2021 01:19:18 +0100
Subject: [PATCH 2/6] Fix a few more places with ground truth publishers.

---
 .../launch/spawner.rb                         | 12 +++++++++-
 .../launch/spawner.rb                         | 12 +++++++++-
 .../launch/spawner.rb                         | 12 +++++++++-
 .../launch/spawner.rb                         | 12 +++++++++-
 subt_ign/launch/cloudsim_sim.ign              | 24 +++++++++++++++++--
 subt_ign/launch/competition.ign               | 24 +++++++++++++++++--
 6 files changed, 88 insertions(+), 8 deletions(-)

diff --git a/submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb
index 4c943b20..804890fa 100644
--- a/submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/cerberus_anymal_c_sensor_config_1/launch/spawner.rb
@@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-joint-state-publisher-system.so"
         name="ignition::gazebo::systems::JointStatePublisher">
       </plugin>
diff --git a/submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb b/submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb
index 68fbb676..b0621857 100644
--- a/submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/cerberus_anymal_c_sensor_config_2/launch/spawner.rb
@@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-joint-state-publisher-system.so"
         name="ignition::gazebo::systems::JointStatePublisher">
       </plugin>
diff --git a/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb
index f36589ca..0030a836 100755
--- a/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb b/submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb
index 2dbda268..cd036845 100644
--- a/submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/costar_shafter_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index 9d4418d8..686a1358 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -878,11 +878,21 @@
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
@@ -1083,11 +1093,21 @@
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index fa44e554..869f082b 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -809,11 +809,21 @@
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
@@ -1014,11 +1024,21 @@
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>

From fb24a0cf068a5c744a15f21fb21539291fa3da64 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 23 Feb 2021 03:02:13 +0100
Subject: [PATCH 3/6] Fix ground truth publishers on new robots.

Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
---
 .../launch/spawner.rb                              | 12 +++++++++++-
 .../launch/spawner.rb                              | 14 ++++++++++++--
 .../launch/spawner.rb                              | 14 ++++++++++++--
 .../explorer_r3_sensor_config_1/launch/spawner.rb  | 12 +++++++++++-
 .../explorer_r3_sensor_config_2/launch/spawner.rb  | 12 +++++++++++-
 .../marble_hd2_sensor_config_3/launch/spawner.rb   | 12 +++++++++++-
 .../marble_hd2_sensor_config_4/launch/spawner.rb   | 12 +++++++++++-
 .../marble_husky_sensor_config_3/launch/spawner.rb | 12 +++++++++++-
 .../marble_husky_sensor_config_4/launch/spawner.rb | 12 +++++++++++-
 9 files changed, 101 insertions(+), 11 deletions(-)

diff --git a/submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb b/submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb
index b1bb4b70..b1805761 100755
--- a/submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/cerberus_m100_sensor_config_2/launch/spawner.rb
@@ -42,11 +42,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
           <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
index 90f8af40..7c4a845d 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb
@@ -187,10 +187,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
         <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
-        <static_pose_publisher>true</static_pose_publisher>
-        <static_pose_update_frequency>1</static_pose_update_frequency>
+        <static_publisher>false</static_publisher>
       </plugin>
 
       <!-- Battery plugin -->
diff --git a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
index 5ef226d6..d44f1d19 100644
--- a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb
@@ -187,10 +187,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
         <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
-        <static_pose_publisher>true</static_pose_publisher>
-        <static_pose_update_frequency>1</static_pose_update_frequency>
+        <static_publisher>false</static_publisher>
       </plugin>
 
       <!-- Battery plugin -->
diff --git a/submitted_models/explorer_r3_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_r3_sensor_config_1/launch/spawner.rb
index 3ae8b34f..a0fd6d8b 100755
--- a/submitted_models/explorer_r3_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/explorer_r3_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/explorer_r3_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_r3_sensor_config_2/launch/spawner.rb
index 024a0e7c..99db8d4f 100644
--- a/submitted_models/explorer_r3_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/explorer_r3_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
index 9534405f..c7938987 100644
--- a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb
@@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
index 9534405f..c7938987 100644
--- a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
+++ b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb
@@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_husky_sensor_config_3/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_3/launch/spawner.rb
index 2afb7fbe..44ca3fcf 100644
--- a/submitted_models/marble_husky_sensor_config_3/launch/spawner.rb
+++ b/submitted_models/marble_husky_sensor_config_3/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/marble_husky_sensor_config_4/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_4/launch/spawner.rb
index d700ae42..04d1e1d4 100644
--- a/submitted_models/marble_husky_sensor_config_4/launch/spawner.rb
+++ b/submitted_models/marble_husky_sensor_config_4/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">

From 4d603861c7fefa4eba8c9939506c026c0d18c90c Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 16 Nov 2021 01:18:15 +0100
Subject: [PATCH 4/6] Synced with master.

---
 .../launch/common.rb                                 | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
index c4544cbf..23cf3c60 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
@@ -92,11 +92,21 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">

From adbf938ead28b7aa29d111caf2ee3409efaae00d Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 16 Nov 2021 18:15:04 +0100
Subject: [PATCH 5/6] Added more models.

---
 .../barcs_qav500_sensor_config_1/launch/spawner.rb  | 12 +++++++++++-
 .../barcs_qav500_sensor_config_2/launch/spawner.rb  | 12 +++++++++++-
 .../coro_allie_sensor_config_1/launch/spawner.rb    | 12 +++++++++++-
 .../coro_allie_sensor_config_2/launch/spawner.rb    | 12 +++++++++++-
 .../launch/spawner.rb                               | 12 +++++++++++-
 .../coro_crystal_sensor_config_1/launch/spawner.rb  | 12 +++++++++++-
 .../coro_jeanine_sensor_config_1/launch/spawner.rb  | 12 +++++++++++-
 .../coro_jeanine_sensor_config_2/launch/spawner.rb  | 12 +++++++++++-
 .../coro_karen_sensor_config_1/launch/spawner.rb    | 12 +++++++++++-
 .../coro_karen_sensor_config_2/launch/spawner.rb    | 12 +++++++++++-
 .../coro_mike_sensor_config_1/launch/spawner.rb     | 12 +++++++++++-
 .../coro_mike_sensor_config_2/launch/spawner.rb     | 12 +++++++++++-
 .../coro_pam_sensor_config_1/launch/spawner.rb      | 12 +++++++++++-
 .../coro_rocky_sensor_config_1/launch/spawner.rb    | 12 +++++++++++-
 .../coro_rocky_sensor_config_2/launch/spawner.rb    | 12 +++++++++++-
 .../coro_rocky_sensor_config_3/launch/spawner.rb    | 12 +++++++++++-
 .../launch/spawner.rb                               | 12 +++++++++++-
 .../launch/spawner.rb                               | 12 +++++++++++-
 .../launch/spawner.rb                               | 12 +++++++++++-
 .../launch/spawner.rb                               | 12 +++++++++++-
 .../launch/common.rb                                | 12 +++++++++++-
 .../launch/spawner.rb                               | 12 +++++++++++-
 .../launch/spawner.rb                               | 13 +++++++++++--
 .../marble_husky_sensor_config_5/launch/spawner.rb  | 12 +++++++++++-
 .../launch/spawner.rb                               | 12 +++++++++++-
 25 files changed, 275 insertions(+), 26 deletions(-)

diff --git a/submitted_models/barcs_qav500_sensor_config_1/launch/spawner.rb b/submitted_models/barcs_qav500_sensor_config_1/launch/spawner.rb
index 31d99401..c2865967 100755
--- a/submitted_models/barcs_qav500_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/barcs_qav500_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/barcs_qav500_sensor_config_2/launch/spawner.rb b/submitted_models/barcs_qav500_sensor_config_2/launch/spawner.rb
index 01c33256..a321bb56 100755
--- a/submitted_models/barcs_qav500_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/barcs_qav500_sensor_config_2/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/coro_allie_sensor_config_1/launch/spawner.rb b/submitted_models/coro_allie_sensor_config_1/launch/spawner.rb
index add44835..608ddcc0 100644
--- a/submitted_models/coro_allie_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_allie_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/coro_allie_sensor_config_2/launch/spawner.rb b/submitted_models/coro_allie_sensor_config_2/launch/spawner.rb
index 00b2a9d6..9629dca3 100644
--- a/submitted_models/coro_allie_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_allie_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/coro_bandicoot_sensor_config_1/launch/spawner.rb b/submitted_models/coro_bandicoot_sensor_config_1/launch/spawner.rb
index 87957b52..191da392 100644
--- a/submitted_models/coro_bandicoot_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_bandicoot_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb b/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb
index d71c2d87..e9981c47 100644
--- a/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/coro_jeanine_sensor_config_1/launch/spawner.rb b/submitted_models/coro_jeanine_sensor_config_1/launch/spawner.rb
index 821ad378..e1cea9b0 100644
--- a/submitted_models/coro_jeanine_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_jeanine_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>        
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/coro_jeanine_sensor_config_2/launch/spawner.rb b/submitted_models/coro_jeanine_sensor_config_2/launch/spawner.rb
index ebfabd2a..3aae7bcd 100644
--- a/submitted_models/coro_jeanine_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_jeanine_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
index 67b77744..d84cc775 100644
--- a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
@@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
index a2f2a116..c56780c0 100644
--- a/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
@@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb b/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb
index 57186135..3dd668b1 100644
--- a/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_mike_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb b/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb
index 0eb867df..a3d39e9f 100644
--- a/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_mike_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">
diff --git a/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb b/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb
index 5eb53e2c..c722482f 100644
--- a/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_pam_sensor_config_1/launch/spawner.rb
@@ -17,11 +17,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
         <robotNamespace>model/#{_name}</robotNamespace>
diff --git a/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb
index 5698972e..2efe0128 100644
--- a/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_rocky_sensor_config_1/launch/spawner.rb
@@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb
index 8e34412b..feed90c7 100644
--- a/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_rocky_sensor_config_2/launch/spawner.rb
@@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb b/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb
index 6619199e..fb2d0da3 100644
--- a/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb
+++ b/submitted_models/coro_rocky_sensor_config_3/launch/spawner.rb
@@ -37,11 +37,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_husky_sensor_config_1/launch/spawner.rb
index 6e2dc039..5579dcf3 100644
--- a/submitted_models/ctu_cras_norlab_husky_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_1/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Gas Sensor plugin -->"
       <plugin filename="libGasEmitterDetectorPlugin.so"
         name="subt::GasDetector">
diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_husky_sensor_config_2/launch/spawner.rb
index 738cc755..6e212e48 100644
--- a/submitted_models/ctu_cras_norlab_husky_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_2/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
index 8139b94c..f4c2aef8 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb
@@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
         name="subt::GasDetector">
diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
index 74ff2d1a..f70cb74a 100644
--- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb
@@ -36,11 +36,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
index e2b8ae6d..cad53510 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
@@ -68,11 +68,21 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb
index f449d85a..c56edba0 100755
--- a/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/ctu_cras_norlab_x500_sensor_config_1/launch/spawner.rb
@@ -17,10 +17,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
       </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
diff --git a/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb b/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb
index 533425c6..3af2243c 100644
--- a/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/emesent_hovermap_sensor_config_1/launch/spawner.rb
@@ -18,12 +18,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_pose_publisher>true</static_pose_publisher>
         <static_pose_update_frequency>1</static_pose_update_frequency>
       </plugin>
-
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Publish rotor modelling system -->
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
diff --git a/submitted_models/marble_husky_sensor_config_5/launch/spawner.rb b/submitted_models/marble_husky_sensor_config_5/launch/spawner.rb
index cf7e0a95..986f1569 100644
--- a/submitted_models/marble_husky_sensor_config_5/launch/spawner.rb
+++ b/submitted_models/marble_husky_sensor_config_5/launch/spawner.rb
@@ -32,11 +32,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
-        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
         <static_publisher>true</static_publisher>
         <static_update_frequency>1</static_update_frequency>
       </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
         name="ignition::gazebo::systems::LinearBatteryPlugin">
diff --git a/submitted_models/robotika_kloubak_sensor_config_3/launch/spawner.rb b/submitted_models/robotika_kloubak_sensor_config_3/launch/spawner.rb
index c7a824af..f2a715b2 100644
--- a/submitted_models/robotika_kloubak_sensor_config_3/launch/spawner.rb
+++ b/submitted_models/robotika_kloubak_sensor_config_3/launch/spawner.rb
@@ -45,11 +45,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
-          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
           <static_publisher>true</static_publisher>
           <static_update_frequency>1</static_update_frequency>
         </plugin>
+        <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"
+          name=\"ignition::gazebo::systems::PosePublisher\">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_publisher>false</static_publisher>
+        </plugin>
         <!-- Battery plugin -->
         <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"
           name=\"ignition::gazebo::systems::LinearBatteryPlugin\">

From 406fd471821c857bb7eb0cc05daf1474c8aa86c9 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Fri, 19 Nov 2021 22:45:10 +0100
Subject: [PATCH 6/6] Mode models.

---
 .../coro_hd2_sensor_config_1/launch/spawner.rb     | 14 ++++++++++++--
 .../coro_hd2_sensor_config_2/launch/spawner.rb     | 14 ++++++++++++--
 .../coro_mark_sensor_config_1/launch/spawner.rb    | 14 ++++++++++++--
 .../dynamo_x4_sensor_config_1/launch/spawner.rb    | 14 ++++++++++++--
 .../dynamo_x4_sensor_config_2/launch/spawner.rb    | 14 ++++++++++++--
 .../launch/spawner.rb                              | 14 ++++++++++++--
 6 files changed, 72 insertions(+), 12 deletions(-)

diff --git a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
index 99404cee..aa373903 100644
--- a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
@@ -36,10 +36,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_pose_publisher>true</static_pose_publisher>
+        <static_pose_update_frequency>1</static_pose_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
         <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
-        <static_publisher>true</static_publisher>
-        <static_update_frequency>1</static_update_frequency>
+        <static_publisher>false</static_publisher>
       </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
diff --git a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
index 66f4e1f5..accedffc 100644
--- a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb
@@ -36,10 +36,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_pose_publisher>true</static_pose_publisher>
+        <static_pose_update_frequency>1</static_pose_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
         <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
-        <static_publisher>true</static_publisher>
-        <static_update_frequency>1</static_update_frequency>
+        <static_publisher>false</static_publisher>
       </plugin>
       <!-- Battery plugin -->
       <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
diff --git a/submitted_models/coro_mark_sensor_config_1/launch/spawner.rb b/submitted_models/coro_mark_sensor_config_1/launch/spawner.rb
index 9a4dc9ad..b4bababd 100644
--- a/submitted_models/coro_mark_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_mark_sensor_config_1/launch/spawner.rb
@@ -17,10 +17,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_pose_publisher>true</static_pose_publisher>
+        <static_pose_update_frequency>1</static_pose_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
         <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
-        <static_publisher>true</static_publisher>
-        <static_update_frequency>1</static_update_frequency>
+        <static_publisher>false</static_publisher>
       </plugin>
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">
diff --git a/submitted_models/dynamo_x4_sensor_config_1/launch/spawner.rb b/submitted_models/dynamo_x4_sensor_config_1/launch/spawner.rb
index 09345a60..4df30e9f 100644
--- a/submitted_models/dynamo_x4_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/dynamo_x4_sensor_config_1/launch/spawner.rb
@@ -41,10 +41,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_pose_publisher>true</static_pose_publisher>
+          <static_pose_update_frequency>1</static_pose_update_frequency>
+        </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
           <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
-          <static_publisher>true</static_publisher>
-          <static_update_frequency>1</static_update_frequency>
+          <static_publisher>false</static_publisher>
         </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
diff --git a/submitted_models/dynamo_x4_sensor_config_2/launch/spawner.rb b/submitted_models/dynamo_x4_sensor_config_2/launch/spawner.rb
index 1b537f2e..5a7ede32 100644
--- a/submitted_models/dynamo_x4_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/dynamo_x4_sensor_config_2/launch/spawner.rb
@@ -17,10 +17,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
           <publish_sensor_pose>true</publish_sensor_pose>
           <publish_collision_pose>false</publish_collision_pose>
           <publish_visual_pose>false</publish_visual_pose>
+          <publish_nested_model_pose>false</publish_nested_model_pose>
+          <use_pose_vector_msg>true</use_pose_vector_msg>
+          <static_pose_publisher>true</static_pose_publisher>
+          <static_pose_update_frequency>1</static_pose_update_frequency>
+        </plugin>
+        <plugin filename="libignition-gazebo-pose-publisher-system.so"
+          name="ignition::gazebo::systems::PosePublisher">
+          <publish_link_pose>false</publish_link_pose>
+          <publish_sensor_pose>false</publish_sensor_pose>
+          <publish_collision_pose>false</publish_collision_pose>
+          <publish_visual_pose>false</publish_visual_pose>
           <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
           <use_pose_vector_msg>true</use_pose_vector_msg>
-          <static_publisher>true</static_publisher>
-          <static_update_frequency>1</static_update_frequency>
+          <static_publisher>false</static_publisher>
         </plugin>
         <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
           name="ignition::gazebo::systems::MulticopterMotorModel">
diff --git a/submitted_models/explorer_canary1_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_canary1_sensor_config_1/launch/spawner.rb
index 10387051..65875f65 100755
--- a/submitted_models/explorer_canary1_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/explorer_canary1_sensor_config_1/launch/spawner.rb
@@ -17,10 +17,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <publish_sensor_pose>true</publish_sensor_pose>
         <publish_collision_pose>false</publish_collision_pose>
         <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_pose_publisher>true</static_pose_publisher>
+        <static_pose_update_frequency>1</static_pose_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
         <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
         <use_pose_vector_msg>true</use_pose_vector_msg>
-        <static_publisher>true</static_publisher>
-        <static_update_frequency>1000</static_update_frequency>
+        <static_publisher>false</static_publisher>
       </plugin>
       <plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
         name="ignition::gazebo::systems::MulticopterMotorModel">