diff --git a/ROS_WS/src/control/src/mouse_drive_control.py b/ROS_WS/src/control/src/mouse_drive_control.py
new file mode 100755
index 0000000..594b70c
--- /dev/null
+++ b/ROS_WS/src/control/src/mouse_drive_control.py
@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+import rospy
+from geometry_msgs.msg import Twist
+import gi
+gi.require_version('Gtk', '2.0')
+from gi.repository import Gtk, Gdk
+
+rospy.init_node('car_controller2', anonymous=False)
+publisher = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
+vel_msg = Twist()
+is_toggled = False
+size = 250
+
+max_speed = 0.1
+
+
+def on_move(box, event):
+	global vel_msg, is_toggled
+	box.window.invalidate_rect(None, False)
+	while Gtk.events_pending():
+		Gtk.main_iteration()
+	cr = box.window.cairo_create()
+	cr.set_source_rgb(1.0, 0.0, 0.0)
+	cr.move_to(size, size)
+	cr.line_to(event.x, event.y)
+	cr.stroke()
+
+	y_pos = size - event.y
+	x_pos = size - event.x
+	if abs(y_pos) <= size and abs(x_pos) <= size and is_toggled:
+		vel_msg.linear.x = max_speed / size * y_pos
+		vel_msg.angular.z = max_speed / size * x_pos
+	else:
+		vel_msg.linear.x = 0
+		vel_msg.angular.z = 0
+
+	vel_msg.linear.y = 0
+	vel_msg.linear.z = 0
+	vel_msg.angular.y = 0
+	vel_msg.angular.x = 0
+
+	publisher.publish(vel_msg)
+
+
+def on_leave(box, event):
+	global vel_msg
+	vel_msg.linear.x = 0
+	vel_msg.linear.y = 0
+	vel_msg.linear.z = 0
+	vel_msg.angular.x = 0
+	vel_msg.angular.y = 0
+	vel_msg.angular.z = 0
+	publisher.publish(vel_msg)
+
+
+def on_click(box, event):
+	global is_toggled
+	is_toggled = True
+	on_move(box, event)
+
+
+def on_release(box, event):
+	global is_toggled, vel_msg
+	is_toggled = False
+	vel_msg.linear.x = 0
+	vel_msg.linear.y = 0
+	vel_msg.linear.z = 0
+	vel_msg.angular.x = 0
+	vel_msg.angular.y = 0
+	vel_msg.angular.z = 0
+	publisher.publish(vel_msg)
+
+
+if __name__ == '__main__':
+	window = Gtk.Window()
+	darea = Gtk.DrawingArea()
+	window.set_default_size(size * 2, size * 2)
+	darea.connect('motion-notify-event', on_move)
+	darea.connect('leave-notify-event', on_leave)
+	darea.connect('button-press-event', on_click)
+	darea.connect('button-release-event', on_release)
+
+	darea.add_events(
+		Gdk.EventMask.POINTER_MOTION_MASK |
+		Gdk.EventMask.BUTTON_RELEASE_MASK |
+		Gdk.EventMask.BUTTON_PRESS_MASK
+	)
+	window.add(darea)
+	window.show_all()
+	print('\nClick and drag at any point in the window to move the robot, hit the x button at the top right to exit')
+	window.connect('destroy', Gtk.main_quit)
+	Gtk.main()
diff --git a/ROS_WS/src/simulation/robot/rover.gazebo b/ROS_WS/src/simulation/robot/rover.gazebo
index ae01bd4..406d7b4 100644
--- a/ROS_WS/src/simulation/robot/rover.gazebo
+++ b/ROS_WS/src/simulation/robot/rover.gazebo
@@ -277,15 +277,14 @@
   </gazebo> -->
   <gazebo>
     <plugin filename="libhector_gazebo_ros_gps.so" name="gps_plugin">
-      <alwaysOn>1</alwaysOn>
-      <bodyName>gps_link</bodyName>
-      <topicName>fix</topicName>
-      <velocityTopicName>fix_velocity</velocityTopicName>
-      <drift>0 0 0</drift>
-      <gaussianNoise>0 0 0</gaussianNoise>
-      <velocityDrift>0 0 0</velocityDrift>
-      <referenceLatitude>0.0</referenceLatitude>
-      <referenceLongitude>0.0</referenceLongitude>
+      <alwaysOn>true</alwaysOn>
+      <updaterate>1.0</updaterate>
+      <bodyName>chassis</bodyName>
+      <topicName>/fix</topicName>
+      <velocityTopicName>/fix_velocity</velocityTopicName>
+      <!-- <drift>5.0 5.0 5.0</drift> -->
+      <gaussiannoise>0.1 0.1 0.1</gaussiannoise>
+      <velocitydrift>0 0 0</velocitydrift>
       <velocityGaussianNoise>0.001 0.001 0.001</velocityGaussianNoise>
     </plugin>
   </gazebo>