diff --git a/src/sherpa/config/gz_bridge.yaml b/src/sherpa/config/gz_bridge.yaml
index 5a18576..86b4753 100644
--- a/src/sherpa/config/gz_bridge.yaml
+++ b/src/sherpa/config/gz_bridge.yaml
@@ -32,4 +32,10 @@
   gz_topic_name: "imu"
   ros_type_name: "sensor_msgs/msg/Imu"
   gz_type_name: "gz.msgs.IMU"
-  direction: GZ_TO_ROS
\ No newline at end of file
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/cmd_vel_in"
+  gz_topic_name: "cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  direction: GZ_TO_ROS
diff --git a/src/sherpa/launch/simulator.launch.py b/src/sherpa/launch/simulator.launch.py
index a8da1f7..d0f9168 100644
--- a/src/sherpa/launch/simulator.launch.py
+++ b/src/sherpa/launch/simulator.launch.py
@@ -18,7 +18,7 @@ def generate_launch_description():
     pkg_share = get_package_share_directory(pkg_name)
     pkg_prefix = os.path.dirname(pkg_share) 
 
-    world_path = os.path.join(pkg_share, 'worlds', 'empty.world')
+    world_path = os.path.join(pkg_share, 'worlds', 'raceway.world')
     xacro_file = os.path.join(pkg_share, 'urdf', 'sherpa.xacro')
 
     # create nodes
@@ -33,7 +33,7 @@ def generate_launch_description():
             'ros2', 'launch', 'ros_gz_sim', 'gz_sim.launch.py',
             f'gz_args:=-r {world_path}'
         ],
-        output='screen'
+        #output='screen'
     )
 
     state_publisher = Node(
@@ -50,7 +50,7 @@ def generate_launch_description():
         package='controller_manager',
         executable='spawner',
         arguments=['ackermann_controller'],
-        output='screen'
+        #output='screen'
     )
 
     joint_state_broadcaster = Node(
@@ -58,7 +58,7 @@ def generate_launch_description():
         executable='spawner',
         arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'],
         parameters=[{'use_sim_time': True}],
-        output='screen'
+        #output='screen'
     )
 
     static_tf = Node(
@@ -80,6 +80,15 @@ def generate_launch_description():
             '-topic', 'robot_description',
             '-x', '0', '-y', '0', '-z', '0.5'
         ],
+        #output='screen'
+    )
+
+    twist_stamper = Node(
+        package="twist_stamper",
+        executable="twist_stamper",
+        remappings=[
+            ('/cmd_vel_out', '/ackermann_controller/reference'),
+        ],
         output='screen'
     )
 
@@ -108,6 +117,7 @@ def generate_launch_description():
     ld.add_action(gz_bridge)
     ld.add_action(joint_state_broadcaster)
     ld.add_action(controller)
+    ld.add_action(twist_stamper)
     ld.add_action(rviz2)
 
     return ld
diff --git a/src/sherpa/urdf/components/ouster_lidar.xacro b/src/sherpa/urdf/components/ouster_lidar.xacro
index 6061d23..ca9bcfe 100644
--- a/src/sherpa/urdf/components/ouster_lidar.xacro
+++ b/src/sherpa/urdf/components/ouster_lidar.xacro
@@ -167,4 +167,4 @@
             </sensor>
         </gazebo>
     </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/src/sherpa/urdf/components/wheel.xacro b/src/sherpa/urdf/components/wheel.xacro
index 5f785a2..24599ca 100644
--- a/src/sherpa/urdf/components/wheel.xacro
+++ b/src/sherpa/urdf/components/wheel.xacro
@@ -66,7 +66,7 @@
                         <mu2>1.2</mu2>
                     </ode>
                 </friction>
-                <soft_cfm>0.01</soft_cfm>  <!-- Soft contact to prevent rigid collisions -->
+                <soft_cfm>0.1</soft_cfm>  <!-- Soft contact to prevent rigid collisions -->
                 <soft_erp>0.1</soft_erp>   <!-- Error reduction parameter (makes contact softer) -->
             </surface>
         </xacro:element>
@@ -81,4 +81,4 @@
             <origin xyz="${xyz}" rpy="${rpy}"/>
         </joint>
     </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/src/sherpa/urdf/sherpa.xacro b/src/sherpa/urdf/sherpa.xacro
index 3822985..3f43762 100644
--- a/src/sherpa/urdf/sherpa.xacro
+++ b/src/sherpa/urdf/sherpa.xacro
@@ -25,7 +25,7 @@
     <xacro:include filename="components/ouster_lidar.xacro"/>
 
     <xacro:imu name="imu" parent="base" xyz="0 0 0.156" rpy="0 0 0" frequency="300"/>
-    <xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.15" rpy="0 0 0" model="vlp16" frequency="10" topic="/points"/>
+    <xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0 0" model="OS1" frequency="10" topic="/points"/>
 
     <link name="steer_fl_link">
         <inertial>
@@ -103,4 +103,4 @@
             <state_interface name="position"/>
         </joint>
     </ros2_control>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/src/sherpa/worlds/empty.world b/src/sherpa/worlds/empty.world
index 56e0c7f..0bf1e53 100644
--- a/src/sherpa/worlds/empty.world
+++ b/src/sherpa/worlds/empty.world
@@ -20,7 +20,7 @@
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      <render_engine>ogre2</render_engine>
+      <render_engine>ogre</render_engine>
     </plugin>
     <plugin filename="gz-sim-imu-system"
         name="gz::sim::systems::Imu">
@@ -92,4 +92,4 @@
       <self_collide>false</self_collide>
     </model>
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/src/sherpa/worlds/raceway.world b/src/sherpa/worlds/raceway.world
new file mode 100644
index 0000000..35d4239
--- /dev/null
+++ b/src/sherpa/worlds/raceway.world
@@ -0,0 +1,112 @@
+<?xml version="1.0" ?>
+<sdf version='1.7'>
+  <world name='sonoma'>
+    <scene>
+      <grid>false</grid>
+    </scene>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-sensors-system"
+      name="ignition::gazebo::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <gui fullscreen="0">
+
+      <!-- 3D scene -->
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.4 0.4 0.4</ambient_light>
+        <background_color>0.5 0.8 0.95</background_color>
+        <!--camera_pose>276.46 -130.36 5.27 0 0.43 -1.24</camera_pose-->
+        <camera_follow>
+          <target>prius_hybrid</target>
+          <p_gain>0.5</p_gain>
+          <offset>0.5 5 2</offset>
+        </camera_follow>
+      </plugin>
+
+      <!-- World control -->
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+
+      </plugin>
+
+      <!-- World statistics -->
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+      </plugin>
+
+      <plugin filename="ImageDisplay" name="dis">
+        <ignition-gui>
+          <property key="state" type="string">docked</property>
+        </ignition-gui>
+        <topic>front_camera</topic>
+      </plugin>
+
+      <plugin filename="Teleop" name="Teleop">
+        <ignition-gui>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+        <topic>/cmd_vel</topic>
+      </plugin>
+    </gui>
+    <include>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Sonoma Raceway</uri>
+    </include>
+
+  </world>
+</sdf>