diff --git a/turtlebot4_ignition_bringup/worlds/turtlebot4_world.sdf b/turtlebot4_ignition_bringup/worlds/turtlebot4_world.sdf
deleted file mode 100644
index 6fd7c16..0000000
--- a/turtlebot4_ignition_bringup/worlds/turtlebot4_world.sdf
+++ /dev/null
@@ -1,212 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.8">
-    <world name="default">
-        <physics name="1ms" type="ignored">
-            <max_step_size>0.001</max_step_size>
-            <real_time_factor>1.0</real_time_factor>
-        </physics>
-        <plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"></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>
-        <plugin filename="ignition-gazebo-contact-system" name="ignition::gazebo::systems::Contact"></plugin>
-        <light type="directional" name="sun">
-            <cast_shadows>true</cast_shadows>
-            <pose>0 0 10 0 0 0</pose>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.2 0.2 0.2 1</specular>
-            <attenuation>
-                <range>1000</range>
-                <constant>0.9</constant>
-                <linear>0.01</linear>
-                <quadratic>0.001</quadratic>
-            </attenuation>
-            <direction>-0.5 0.1 -0.9</direction>
-        </light>
-
-        <model name="ground_plane">
-            <static>true</static>
-            <link name="link">
-                <collision name="collision">
-                    <geometry>
-                        <plane>
-                            <normal>0 0 1</normal>
-                            <size>100 100</size>
-                        </plane>
-                    </geometry>
-                </collision>
-                <visual name="visual">
-                    <geometry>
-                        <plane>
-                            <normal>0 0 1</normal>
-                            <size>100 100</size>
-                        </plane>
-                    </geometry>
-                    <material>
-                        <ambient>0.8 0.8 0.8 1</ambient>
-                        <diffuse>0.8 0.8 0.8 1</diffuse>
-                        <specular>0.8 0.8 0.8 1</specular>
-                    </material>
-                </visual>
-            </link>
-        </model>
-        <!-- Spawn Turtlebot4 -->
-        <include>
-            <pose>0 0 0 0 0 0</pose>
-            <uri>
-                model://turtlebot4
-            </uri>
-        </include>
-
-        <model name='box1'>
-            <pose>2 2 0.5 0 -0 0</pose>
-            <link name='box_link'>
-                <inertial>
-                    <inertia>
-                        <ixx>0.16666</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.16666</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.16666</izz>
-                    </inertia>
-                    <mass>100</mass>
-                </inertial>
-                <collision name='box_collision'>
-                    <geometry>
-                        <box>
-                            <size>1 1 1</size>
-                        </box>
-                    </geometry>
-                    <surface>
-                        <friction>
-                            <ode />
-                        </friction>
-                        <bounce />
-                        <contact />
-                    </surface>
-                </collision>
-                <visual name='box_visual'>
-                    <geometry>
-                        <box>
-                            <size>1 1 1</size>
-                        </box>
-                    </geometry>
-                </visual>
-            </link>
-        </model>
-
-        <model name='box2'>
-            <pose>2 -2 0.5 0 -0 0</pose>
-            <link name='box_link'>
-                <inertial>
-                    <inertia>
-                        <ixx>0.16666</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.16666</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.16666</izz>
-                    </inertia>
-                    <mass>100</mass>
-                </inertial>
-                <collision name='box_collision'>
-                    <geometry>
-                        <box>
-                            <size>1 1 1</size>
-                        </box>
-                    </geometry>
-                    <surface>
-                        <friction>
-                            <ode />
-                        </friction>
-                        <bounce />
-                        <contact />
-                    </surface>
-                </collision>
-                <visual name='box_visual'>
-                    <geometry>
-                        <box>
-                            <size>1 1 1</size>
-                        </box>
-                    </geometry>
-                </visual>
-            </link>
-        </model>
-
-        <model name='box3'>
-            <pose>-2 -2 0.5 0 -0 0</pose>
-            <link name='box_link'>
-                <inertial>
-                    <inertia>
-                        <ixx>0.16666</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.16666</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.16666</izz>
-                    </inertia>
-                    <mass>100</mass>
-                </inertial>
-                <collision name='box_collision'>
-                    <geometry>
-                        <box>
-                            <size>1 1 1</size>
-                        </box>
-                    </geometry>
-                    <surface>
-                        <friction>
-                            <ode />
-                        </friction>
-                        <bounce />
-                        <contact />
-                    </surface>
-                </collision>
-                <visual name='box_visual'>
-                    <geometry>
-                        <box>
-                            <size>1 1 1</size>
-                        </box>
-                    </geometry>
-                </visual>
-            </link>
-        </model>
-
-        <model name='box4'>
-            <pose>-2 2 0.5 0 -0 0</pose>
-            <link name='box_link'>
-                <inertial>
-                    <inertia>
-                        <ixx>0.16666</ixx>
-                        <ixy>0</ixy>
-                        <ixz>0</ixz>
-                        <iyy>0.16666</iyy>
-                        <iyz>0</iyz>
-                        <izz>0.16666</izz>
-                    </inertia>
-                    <mass>100</mass>
-                </inertial>
-                <collision name='box_collision'>
-                    <geometry>
-                        <box>
-                            <size>1 1 1</size>
-                        </box>
-                    </geometry>
-                    <surface>
-                        <friction>
-                            <ode />
-                        </friction>
-                        <bounce />
-                        <contact />
-                    </surface>
-                </collision>
-                <visual name='box_visual'>
-                    <geometry>
-                        <box>
-                            <size>1 1 1</size>
-                        </box>
-                    </geometry>
-                </visual>
-            </link>
-        </model>
-    </world>
-</sdf>
\ No newline at end of file