diff --git a/auv_sim/auv_sim_bringup/launch/inc/start_world.launch.xml b/auv_sim/auv_sim_bringup/launch/inc/start_world.launch.xml
index 8eca8458..356b9058 100644
--- a/auv_sim/auv_sim_bringup/launch/inc/start_world.launch.xml
+++ b/auv_sim/auv_sim_bringup/launch/inc/start_world.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <arg name="gui" default="true" />
   <arg name="debug" default="false" />
-  <arg name="world_name" default="$(find auv_sim_description)/worlds/seabed.world" />
+  <arg name="world_name"/>
   <arg name="namespace" default="taluy" />
   <arg name="velocity_control" default="true" />
   <arg name="joy_id" default="0" />
@@ -16,8 +16,9 @@
     <arg name="verbose" value="true" />
   </include>
 
-  <node name="publish_world_models" pkg="uuv_assistants" type="publish_world_models.py"
-    output="screen">
+  <node if="$(eval arg('world_name') == '$(find auv_sim_description)/worlds/seabed.world')" 
+        name="publish_world_models" pkg="uuv_assistants" type="publish_world_models.py"
+        output="screen">
     <rosparam command="load" file="$(find auv_sim_bringup)/config/world_models.yaml" />
   </node>
 </launch>
\ No newline at end of file
diff --git a/auv_sim/auv_sim_bringup/launch/start_gazebo.launch b/auv_sim/auv_sim_bringup/launch/start_gazebo.launch
index 14b9f32b..8866abc3 100644
--- a/auv_sim/auv_sim_bringup/launch/start_gazebo.launch
+++ b/auv_sim/auv_sim_bringup/launch/start_gazebo.launch
@@ -1,13 +1,14 @@
 <?xml version="1.0"?>
 <launch>
+  <env name="GAZEBO_MODEL_PATH" value="$(find auv_sim_description)/models:${GAZEBO_MODEL_PATH}"/>
   <arg name="namespace" default="taluy" />
   <arg name="control_rate" default="20.0" />
   <arg name="use_ned_frame" default="false" />
   <arg name="reference_frame" value="world" />
-
+  
   <arg name="use_gui" default="true" />
   <arg name="debug" default="false" />
-  <arg name="world_name" default="$(find auv_sim_description)/worlds/seabed.world" />
+  <arg name="world_name" default="$(find auv_sim_description)/worlds/pool.world" />
   <arg name="velocity_control" default="true" />
   <arg name="joy_id" default="0" />