diff --git a/NaviGator/simulation/navigator_gazebo/worlds/test_cases/opposite_u_shaped_test.world b/NaviGator/simulation/navigator_gazebo/worlds/test_cases/opposite_u_shaped_test.world
deleted file mode 100644
index 57aa4d83c..000000000
--- a/NaviGator/simulation/navigator_gazebo/worlds/test_cases/opposite_u_shaped_test.world
+++ /dev/null
@@ -1,6008 +0,0 @@
-<sdf version='1.7'>
-  <world name='template'>
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>-33.7242</latitude_deg>
-      <longitude_deg>150.68</longitude_deg>
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
-    </spherical_coordinates>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</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>
-      <spot>
-        <inner_angle>0</inner_angle>
-        <outer_angle>0</outer_angle>
-        <falloff>0</falloff>
-      </spot>
-    </light>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose>-465.03 178.5 18.9801 0 0.248344 2.93686</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-    <model name='sydneyregatta'>
-      <pose>0 0 0.2 0 -0 0</pose>
-      <static>1</static>
-      <link name='link'>
-        <visual name='visual_terrain'>
-          <geometry>
-            <mesh>
-              <uri>file://sydney_regatta/meshes/sydney_regatta.dae</uri>
-              <submesh>
-                <name>Terrain</name>
-              </submesh>
-            </mesh>
-          </geometry>
-        </visual>
-        <visual name='visual_concrete'>
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-            <mesh>
-              <uri>file://sydney_regatta/meshes/sydney_regatta.dae</uri>
-              <submesh>
-                <name>ConcreteDark</name>
-              </submesh>
-            </mesh>
-          </geometry>
-        </visual>
-        <visual name='visual_dock_dark'>
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-              <submesh>
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-              </submesh>
-            </mesh>
-          </geometry>
-        </visual>
-        <visual name='visual_metal_galvanized'>
-          <geometry>
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-              <submesh>
-                <name>MetalGalvanized</name>
-              </submesh>
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-          </geometry>
-        </visual>
-        <visual name='visual_dock'>
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-            <mesh>
-              <uri>file://sydney_regatta/meshes/sydney_regatta.dae</uri>
-              <submesh>
-                <name>Dock</name>
-              </submesh>
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-        </visual>
-        <visual name='visual_windows_dark'>
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-              <submesh>
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-        <visual name='visual_roof'>
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-              <submesh>
-                <name>RoofCorrugated</name>
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-        <visual name='visual_wall'>
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-              <submesh>
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-        <visual name='visual_branches'>
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-              <submesh>
-                <name>TreeDiffuse</name>
-              </submesh>
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-          <material>
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-              <uri>model://sydney_regatta/materials/textures/</uri>
-              <name>SydneyTree/Branch</name>
-            </script>
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-        <visual name='FR_propeller_link_visual'>
-          <pose>0 0 0 0 -0 0</pose>
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-          <pose>0 0 0 0 -0 0</pose>
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-            <spring_stiffness>0</spring_stiffness>
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-      <link name='wamv/ball_shooter_launcher_link'>
-        <pose relative_to='wamv/ball_shooter_launcher_joint'>0 0 0 0 -0 0</pose>
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-          <pose>0 0 0 0 0.261799 0</pose>
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-            <box>
-              <size>0.3 0.3 0.2</size>
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-          <max_contacts>10</max_contacts>
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-          <pose>0 0 0 0 0.261799 0</pose>
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-              <uri>/home/tanu/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/vrx_gazebo/models/ball_shooter/meshes/ball_shooter_launcher.dae</uri>
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-      <joint name='wamv/imu_wamv_joint' type='revolute'>
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-        <parent>wamv/base_link</parent>
-        <child>wamv/imu_wamv_link</child>
-        <axis>
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-            <lower>0</lower>
-            <upper>0</upper>
-            <effort>1000</effort>
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-        <pose relative_to='wamv/imu_wamv_joint'>0 0 0 0 -0 0</pose>
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-          <pose>0 0 0 0 -0 0</pose>
-          <mass>0.1</mass>
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-            <ixx>8.3e-05</ixx>
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-            <iyy>8.3e-05</iyy>
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-          <pose>0 0 0 0 -0 0</pose>
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-      <joint name='wamv/ins_joint' type='revolute'>
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-        <parent>wamv/base_link</parent>
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-          <mass>1</mass>
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-          <pose>0 0 0.025 0 -0 0</pose>
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-              <radius>0.015</radius>
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-          <pose>0 0 0.11 0 -0 0</pose>
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-              <length>0.1</length>
-              <radius>0.15</radius>
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-          <pose>0 0 0 0 -0 0</pose>
-          <geometry>
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-              <scale>1 1 1</scale>
-              <uri>/home/tanu/catkin_ws/src/mil/NaviGator/simulation/VRX/vrx/wamv_gazebo/models/gps/mesh/gps.dae</uri>
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-      <plugin name='gps_plugin_ins' filename='libhector_gazebo_ros_gps.so'>
-        <updateRate>15</updateRate>
-        <alwaysOn>1</alwaysOn>
-        <bodyName>wamv/ins_link</bodyName>
-        <frameId>wamv/ins_link</frameId>
-        <topicName>wamv/sensors/gps/gps/fix</topicName>
-        <velocityTopicName>wamv/sensors/gps/gps/fix_velocity</velocityTopicName>
-        <useWorldSphericalCoordinates>1</useWorldSphericalCoordinates>
-        <offset>0.0 0.0 0.0</offset>
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-        <velocityDrift>0.0 0.0 0.0</velocityDrift>
-        <velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
-        <robotNamespace>/</robotNamespace>
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-      <plugin name='imu_plugin_imu_wamv' filename='libhector_gazebo_ros_imu.so'>
-        <updateRate>15</updateRate>
-        <bodyName>wamv/imu_wamv_link</bodyName>
-        <topicName>wamv/sensors/imu/imu/data</topicName>
-        <serviceName>wamv/sensors/imu_service</serviceName>
-        <frameId>wamv/imu_wamv_link</frameId>
-        <alwaysOn>1</alwaysOn>
-        <accelOffset>0.0 0.0 0.0</accelOffset>
-        <accelDrift>0.0 0.0 0.0</accelDrift>
-        <accelDriftFrequency>0.00027 0.00027 0.000027</accelDriftFrequency>
-        <accelGaussianNoise>0.0 0.0 0.0</accelGaussianNoise>
-        <rateOffset>0.0 0.0 0.0</rateOffset>
-        <rateDrift>0.0 0.0 0.0</rateDrift>
-        <rateDriftFrequency>0.00027 0.00027 0.000027</rateDriftFrequency>
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-        <yawOffset>0.0</yawOffset>
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-        <yawGaussianNoise>0.0</yawGaussianNoise>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='ball_shooter_plugin' filename='libball_shooter_plugin.so'>
-        <projectile>
-          <model_name>blue_projectile</model_name>
-          <link_name>link</link_name>
-          <frame>wamv/ball_shooter_launcher_link</frame>
-          <pose>0.14 0 0 0 0 0</pose>
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-        <num_shots>4</num_shots>
-        <shot_force>300</shot_force>
-        <topic>wamv/shooters/ball_shooter/fire</topic>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <plugin name='pinger_plugin' filename='libusv_gazebo_acoustic_pinger_plugin.so'>
-        <frameId>wamv/pinger</frameId>
-        <topicName>wamv/sensors/pingers/hydrophones/range_bearing</topicName>
-        <setPositionTopicName>wamv/sensors/pingers/hydrophones/set_pinger_position</setPositionTopicName>
-        <rangeNoise>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>3.0</stddev>
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-        <bearingNoise>
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-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
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-          <noise>
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-            <mean>0.0</mean>
-            <stddev>0.01</stddev>
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-        </elevationNoise>
-        <robotNamespace>/</robotNamespace>
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-      <plugin name='wamv_gazebo_thrust' filename='libusv_gazebo_thrust_plugin.so'>
-        <cmdTimeout>1.0</cmdTimeout>
-        <robotNamespace>wamv</robotNamespace>
-        <thruster>
-          <linkName>BL_propeller_link</linkName>
-          <propJointName>BL_engine_propeller_joint</propJointName>
-          <engineJointName>BL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
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-        <thruster>
-          <linkName>BR_propeller_link</linkName>
-          <propJointName>BR_engine_propeller_joint</propJointName>
-          <engineJointName>BR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/BR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/BR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
-          <maxForceFwd>250.0</maxForceFwd>
-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
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-        <thruster>
-          <linkName>FL_propeller_link</linkName>
-          <propJointName>FL_engine_propeller_joint</propJointName>
-          <engineJointName>FL_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FL_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FL_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
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-          <maxForceRev>-100.0</maxForceRev>
-          <maxAngle>1.5707963267948966</maxAngle>
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-        <thruster>
-          <linkName>FR_propeller_link</linkName>
-          <propJointName>FR_engine_propeller_joint</propJointName>
-          <engineJointName>FR_chasis_engine_joint</engineJointName>
-          <cmdTopic>thrusters/FR_thrust_cmd</cmdTopic>
-          <angleTopic>thrusters/FR_thrust_angle</angleTopic>
-          <enableAngle>1</enableAngle>
-          <mappingType>1</mappingType>
-          <maxCmd>1.0</maxCmd>
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-          <maxForceRev>-100.0</maxForceRev>
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-      <plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libusv_gazebo_dynamics_plugin.so'>
-        <bodyName>wamv/base_link</bodyName>
-        <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
-        <xDotU>0.0</xDotU>
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-        <nDotR>0.0</nDotR>
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-        <boatWidth>2.4</boatWidth>
-        <boatLength>4.9</boatLength>
-        <length_n>2</length_n>
-        <wave_model>ocean_waves</wave_model>
-        <robotNamespace>/</robotNamespace>
-      </plugin>
-      <frame name='wamv/front_left_cam_to_front_left_cam_link_optical_joint' attached_to='wamv/front_left_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link_optical' attached_to='wamv/front_left_cam_to_front_left_cam_link_optical_joint'/>
-      <frame name='wamv/front_left_cam_post_arm_to_front_left_cam_joint' attached_to='wamv/front_left_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_link' attached_to='wamv/front_left_cam_post_arm_to_front_left_cam_joint'/>
-      <frame name='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint' attached_to='wamv/front_left_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_arm_link' attached_to='wamv/front_left_cam_post_to_front_left_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_left_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_left_cam_post_link' attached_to='wamv/base_to_front_left_cam_post_joint'/>
-      <frame name='wamv/front_right_cam_to_front_right_cam_link_optical_joint' attached_to='wamv/front_right_cam_link'>
-        <pose>0 0 0 -1.5708 -0 -1.5708</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link_optical' attached_to='wamv/front_right_cam_to_front_right_cam_link_optical_joint'/>
-      <frame name='wamv/front_right_cam_post_arm_to_front_right_cam_joint' attached_to='wamv/front_right_cam_post_arm_link'>
-        <pose>0.02 0 0.027 0 0.20944 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_link' attached_to='wamv/front_right_cam_post_arm_to_front_right_cam_joint'/>
-      <frame name='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint' attached_to='wamv/front_right_cam_post_link'>
-        <pose>0.03 0 0.08825 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_arm_link' attached_to='wamv/front_right_cam_post_to_front_right_cam_post_arm_joint'/>
-      <frame name='wamv/base_to_front_right_cam_post_joint' attached_to='wamv/base_link'>
-        <pose>0.92 -0.1 1.38475 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/front_right_cam_post_link' attached_to='wamv/base_to_front_right_cam_post_joint'/>
-      <frame name='wamv/velodyne_post_arm_to_velodyne_joint' attached_to='velodyne_post_arm_link'>
-        <pose>0.04 0 0.05 0 0.261799 0</pose>
-      </frame>
-      <frame name='velodyne' attached_to='wamv/velodyne_post_arm_to_velodyne_joint'/>
-      <frame name='wamv/velodyne_post_to_velodyne_post_arm_joint' attached_to='velodyne_post_link'>
-        <pose>0.03 0 0.32675 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_arm_link' attached_to='wamv/velodyne_post_to_velodyne_post_arm_joint'/>
-      <frame name='wamv/base_to_velodyne_post_joint' attached_to='wamv/base_link'>
-        <pose>0.704 0 1.62325 0 -0 0</pose>
-      </frame>
-      <frame name='velodyne_post_link' attached_to='wamv/base_to_velodyne_post_joint'/>
-      <frame name='wamv/dummy_joint' attached_to='wamv/base_link'>
-        <pose>0 0 0 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/dummy_link' attached_to='wamv/dummy_joint'/>
-      <frame name='wamv/hydrophones_pinger_joint' attached_to='wamv/base_link'>
-        <pose>1 0 -1 0 -0 0</pose>
-      </frame>
-      <frame name='wamv/hydrophones' attached_to='wamv/hydrophones_pinger_joint'/>
-      <pose>-527 167 0.1 0 -0 1</pose>
-    </model>
-    <model name='mb_marker_buoy_white'>
-      <link name='link'>
-        <inertial>
-          <pose>0 0 -2 0 -0 0</pose>
-          <mass>20</mass>
-          <inertia>
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-          <pose>0 -0.02 0.02 0 -0 0</pose>
-          <geometry>
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-              <length>1.15</length>
-            </cylinder>
-          </geometry>
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-          <surface>
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-            <bounce/>
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-                <ode/>
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-              <ode/>
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-          <geometry>
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-            <bounce/>
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-              <ode/>
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-        <visual name='visual'>
-          <pose>0 0 0 1.57079 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://mb_marker_buoy_red/meshes/mb_marker_buoy.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/White</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='BuoyancyPlugin' filename='libbuoyancy_gazebo_plugin.so'>
-        <wave_model>ocean_waves</wave_model>
-        <fluid_density>1000</fluid_density>
-        <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
-        <angular_drag>2.0</angular_drag>
-        <buoyancy name='buoyancy_sphere'>
-          <link_name>link</link_name>
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-          <geometry>
-            <sphere>
-              <radius>0.325</radius>
-            </sphere>
-          </geometry>
-        </buoyancy>
-      </plugin>
-      <pose>-513.854 172.45 0 0 -0 0</pose>
-    </model>
-    <model name='mb_marker_buoy_white_0'>
-      <link name='link'>
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-          <mass>20</mass>
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-        <visual name='visual'>
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-          <geometry>
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-            </mesh>
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-          <material>
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-              <name>Gazebo/White</name>
-            </script>
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-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='BuoyancyPlugin' filename='libbuoyancy_gazebo_plugin.so'>
-        <wave_model>ocean_waves</wave_model>
-        <fluid_density>1000</fluid_density>
-        <fluid_level>0.0</fluid_level>
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-        <angular_drag>2.0</angular_drag>
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-          <link_name>link</link_name>
-          <pose>0 0 -0.12 0 0 0</pose>
-          <geometry>
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-              <radius>0.325</radius>
-            </sphere>
-          </geometry>
-        </buoyancy>
-      </plugin>
-      <pose>-526.852 173.431 0 0 -0 0</pose>
-    </model>
-    <model name='mb_marker_buoy_green'>
-      <link name='link'>
-        <inertial>
-          <pose>0 0 -2 0 -0 0</pose>
-          <mass>20</mass>
-          <inertia>
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-        <collision name='collision_inner'>
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-          <geometry>
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-          <surface>
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-              <ode/>
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-          <geometry>
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-              <length>0.1</length>
-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
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-            <bounce/>
-            <friction>
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-                <ode/>
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-              <ode/>
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-        </collision>
-        <visual name='visual'>
-          <pose>0 0 0 1.57079 -0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://mb_marker_buoy_red/meshes/mb_marker_buoy.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://mb_marker_buoy_green/materials/scripts/mb_marker_buoy.material</uri>
-              <name>mb_marker_buoy/Green</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='BuoyancyPlugin' filename='libbuoyancy_gazebo_plugin.so'>
-        <wave_model>ocean_waves</wave_model>
-        <fluid_density>1000</fluid_density>
-        <fluid_level>0.0</fluid_level>
-        <linear_drag>25.0</linear_drag>
-        <angular_drag>2.0</angular_drag>
-        <buoyancy name='buoyancy_sphere'>
-          <link_name>link</link_name>
-          <pose>0 0 -0.12 0 0 0</pose>
-          <geometry>
-            <sphere>
-              <radius>0.325</radius>
-            </sphere>
-          </geometry>
-        </buoyancy>
-      </plugin>
-      <pose>-515.871 181.913 0 0 -0 0</pose>
-    </model>
-    <model name='mb_marker_buoy_red'>
-      <link name='link'>
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-          <mass>20</mass>
-          <inertia>
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-        <collision name='collision_inner'>
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-          <geometry>
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-              <length>1.15</length>
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-          <max_contacts>10</max_contacts>
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-            <bounce/>
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-              <ode/>
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-          <geometry>
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-            </cylinder>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
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-            <bounce/>
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-              <ode/>
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-        <visual name='visual'>
-          <pose>0 0 0 1.57079 -0 0</pose>
-          <geometry>
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-            </mesh>
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-          <material>
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-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='BuoyancyPlugin' filename='libbuoyancy_gazebo_plugin.so'>
-        <wave_model>ocean_waves</wave_model>
-        <fluid_density>1000</fluid_density>
-        <fluid_level>0.0</fluid_level>
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-        <angular_drag>2.0</angular_drag>
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-          <geometry>
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-              <radius>0.325</radius>
-            </sphere>
-          </geometry>
-        </buoyancy>
-      </plugin>
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-    </model>
-    <model name='mb_marker_buoy_red_0'>
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-          <mass>20</mass>
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-          <geometry>
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-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
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-      </link>
-      <plugin name='BuoyancyPlugin' filename='libbuoyancy_gazebo_plugin.so'>
-        <wave_model>ocean_waves</wave_model>
-        <fluid_density>1000</fluid_density>
-        <fluid_level>0.0</fluid_level>
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-        <angular_drag>2.0</angular_drag>
-        <buoyancy name='buoyancy_sphere'>
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-          <geometry>
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-            </sphere>
-          </geometry>
-        </buoyancy>
-      </plugin>
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-    </model>
-    <model name='mb_marker_buoy_red_1'>
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-          <mass>20</mass>
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-          <geometry>
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-          <material>
-            <script>
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-              <name>mb_marker_buoy/Red</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-      <plugin name='BuoyancyPlugin' filename='libbuoyancy_gazebo_plugin.so'>
-        <wave_model>ocean_waves</wave_model>
-        <fluid_density>1000</fluid_density>
-        <fluid_level>0.0</fluid_level>
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-        <angular_drag>2.0</angular_drag>
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-          </geometry>
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-    </model>
-    <model name='mb_marker_buoy_red_2'>
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-          <mass>20</mass>
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