diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index e0209d02..5899ff49 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -17,14 +17,14 @@ jobs:
       fail-fast: false
       matrix:
         ros_distribution:
-          - humble
+          # - humble
           - jazzy
           - rolling
         include:
           # ROS 2 Humble Hawksbill
-          - docker_image: ubuntu:jammy
-            ros_distribution: humble
-            ros_version: 2
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: humble
+          #   ros_version: 2
           # ROS 2 Jazzy Jalisco
           - docker_image: ubuntu:noble
             ros_distribution: jazzy
diff --git a/turtlebot3_fake_node/CHANGELOG.rst b/turtlebot3_fake_node/CHANGELOG.rst
index 12775136..0ce85ea1 100644
--- a/turtlebot3_fake_node/CHANGELOG.rst
+++ b/turtlebot3_fake_node/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package turtlebot3_fake
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.5 (2025-06-04)
+------------------
+* None
+
 2.3.3 (2025-05-29)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt, related PR(https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/234)
diff --git a/turtlebot3_fake_node/package.xml b/turtlebot3_fake_node/package.xml
index 1334065a..9af9b2ec 100644
--- a/turtlebot3_fake_node/package.xml
+++ b/turtlebot3_fake_node/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_fake_node</name>
-  <version>2.3.3</version>
+  <version>2.3.5</version>
   <description>
     Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot.
     You can do simple tests using this package on rviz without real robots.
diff --git a/turtlebot3_gazebo/CHANGELOG.rst b/turtlebot3_gazebo/CHANGELOG.rst
index 5f59fc07..3176ba28 100644
--- a/turtlebot3_gazebo/CHANGELOG.rst
+++ b/turtlebot3_gazebo/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_gazebo
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.5 (2025-06-04)
+------------------
+* Added turtlebot3_machine_learning world and plugin
+* Contributors: ChanHyeong Lee
+
 2.3.3 (2025-05-29)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt, related PR(https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/234)
diff --git a/turtlebot3_gazebo/CMakeLists.txt b/turtlebot3_gazebo/CMakeLists.txt
index a9516b10..bbbdf2ba 100644
--- a/turtlebot3_gazebo/CMakeLists.txt
+++ b/turtlebot3_gazebo/CMakeLists.txt
@@ -1,7 +1,7 @@
 ################################################################################
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(turtlebot3_gazebo)
 
 if(NOT CMAKE_CXX_STANDARD)
@@ -26,17 +26,26 @@ find_package(nav_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
+find_package(gz_math_vendor REQUIRED)
+find_package(gz-math REQUIRED)
+find_package(gz_sim_vendor REQUIRED)
+find_package(gz-sim REQUIRED)
+find_package(gz_plugin_vendor REQUIRED)
+find_package(gz-plugin REQUIRED)
 
 ################################################################################
 # Build
 ################################################################################
 link_directories(
   ${GAZEBO_LIBRARY_DIRS}
+  ${GZ_SIM_LIBRARY_DIRS}
 )
 
 include_directories(
   include
   ${GAZEBO_INCLUDE_DIRS}
+  ${gz_sim_vendor_INCLUDE_DIRS}
+  ${GZ_SIM_INCLUDE_DIRS}
 )
 
 set(EXEC_NAME "turtlebot3_drive")
@@ -50,25 +59,29 @@ target_link_libraries(${EXEC_NAME}
   tf2::tf2
 )
 
-# add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
-# target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
-
-# add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
-# target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
-
-# add_library(obstacle1 SHARED src/obstacle1.cpp)
-# target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
-
-# add_library(obstacle2 SHARED src/obstacle2.cpp)
-# target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
+set(OBSTACLE_LIBS
+  obstacles
+  obstacle1
+  obstacle2
+)
 
-# add_library(obstacles SHARED src/obstacles.cpp)
-# target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
+foreach(lib ${OBSTACLE_LIBS})
+  add_library(${lib} SHARED src/${lib}.cpp)
+  target_link_libraries(${lib}
+    PUBLIC
+    gz-sim::gz-sim
+    gz-math::gz-math
+  )
+endforeach()
 
 ################################################################################
 # Install
 ################################################################################
-install(TARGETS ${EXEC_NAME}
+install(TARGETS
+  ${EXEC_NAME}
+  obstacles
+  obstacle1
+  obstacle2
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp b/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
index 53770379..e3eade91 100644
--- a/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
+++ b/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp
@@ -12,27 +12,51 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
 #define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
 
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
+#include <chrono>
+#include <memory>
+#include <vector>
 
-namespace gazebo
+#include <gz/sim/System.hh>
+#include <gz/sim/Model.hh>
+#include <gz/math/Vector3.hh>
+
+namespace turtlebot3_gazebo
 {
-class Obstacle1 : public ModelPlugin
+
+class Obstacle1Plugin
+  : public gz::sim::System,
+  public gz::sim::ISystemConfigure,
+  public gz::sim::ISystemPreUpdate
 {
 public:
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  Obstacle1Plugin() = default;
+  ~Obstacle1Plugin() override = default;
+
+  void Configure(
+    const gz::sim::Entity & entity,
+    const std::shared_ptr<const sdf::Element> & sdf,
+    gz::sim::EntityComponentManager & ecm,
+    gz::sim::EventManager & eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo & info,
+    gz::sim::EntityComponentManager & ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model;
+  std::chrono::steady_clock::time_point startTime;
+
+  std::vector<gz::math::Vector3d> waypoints;
+  std::vector<double> segmentDistances;
+  double totalDistance = 0.0;
+  double speed = 0.1;  // meters per second
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
-}  // namespace gazebo
+
+}  // namespace turtlebot3_gazebo
+
 #endif  // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
diff --git a/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp b/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
index f99808d8..c85bf787 100644
--- a/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
+++ b/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp
@@ -12,28 +12,51 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
 #define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
 
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
+#include <chrono>
+#include <memory>
+#include <vector>
 
-namespace gazebo
+#include <gz/sim/System.hh>
+#include <gz/sim/Model.hh>
+#include <gz/math/Vector3.hh>
+
+namespace turtlebot3_gazebo
 {
-class Obstacle2 : public ModelPlugin
+
+class Obstacle2Plugin
+  : public gz::sim::System,
+  public gz::sim::ISystemConfigure,
+  public gz::sim::ISystemPreUpdate
 {
 public:
-  Obstacle2() = default;
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  Obstacle2Plugin() = default;
+  ~Obstacle2Plugin() override = default;
+
+  void Configure(
+    const gz::sim::Entity & entity,
+    const std::shared_ptr<const sdf::Element> & sdf,
+    gz::sim::EntityComponentManager & ecm,
+    gz::sim::EventManager & eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo & info,
+    gz::sim::EntityComponentManager & ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model;
+  std::chrono::steady_clock::time_point startTime;
+
+  std::vector<gz::math::Vector3d> waypoints;
+  std::vector<double> segmentDistances;
+  double totalDistance = 0.0;
+  double speed = 0.1;  // meters per second
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
-}  // namespace gazebo
+
+}  // namespace turtlebot3_gazebo
+
 #endif  // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
diff --git a/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp b/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
index 5d88a9b4..341a930b 100644
--- a/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
+++ b/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp
@@ -12,30 +12,44 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
 #define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
 
-#include <ignition/math.hh>
-#include <gazebo/common/common.hh>
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/physics.hh>
+#include <chrono>
+#include <memory>
 
-#define PI 3.141592
+#include <gz/sim/components/Pose.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/EventManager.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/System.hh>
 
-namespace gazebo
+namespace turtlebot3_gazebo
 {
-class Obstacles : public ModelPlugin
+
+class ObstaclesPlugin
+  : public gz::sim::System,
+  public gz::sim::ISystemConfigure,
+  public gz::sim::ISystemPreUpdate
 {
 public:
-  Obstacles() = default;
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+  void Configure(
+    const gz::sim::Entity & entity,
+    const std::shared_ptr<const sdf::Element> & sdf,
+    gz::sim::EntityComponentManager & ecm,
+    gz::sim::EventManager & eventMgr) override;
+
+  void PreUpdate(
+    const gz::sim::UpdateInfo & info,
+    gz::sim::EntityComponentManager & ecm) override;
 
 private:
-  physics::ModelPtr model;
-  event::ConnectionPtr updateConnection;
+  gz::sim::Model model{gz::sim::kNullEntity};
+  std::chrono::steady_clock::time_point startTime;
 };
-GZ_REGISTER_MODEL_PLUGIN(Obstacles);
-}  // namespace gazebo
+
+}  // namespace turtlebot3_gazebo
+
 #endif  // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
new file mode 100644
index 00000000..048b82a4
--- /dev/null
+++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, ChanHyeong Lee
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage1.world'
+    )
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH',
+        os.path.join(
+            get_package_share_directory('turtlebot3_gazebo'),
+            'models'
+        )
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items()
+    )
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': '-g -v4 '}.items()
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
new file mode 100644
index 00000000..6cfe0fb6
--- /dev/null
+++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py
@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, ChanHyeong Lee
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage2.world'
+    )
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH',
+        os.path.join(
+            get_package_share_directory('turtlebot3_gazebo'),
+            'models'
+        )
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items()
+    )
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': '-g -v4 '}.items()
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
new file mode 100644
index 00000000..fa5dcc2c
--- /dev/null
+++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py
@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, ChanHyeong Lee
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage3.world'
+    )
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH',
+        os.path.join(
+            get_package_share_directory('turtlebot3_gazebo'),
+            'models'
+        )
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items()
+    )
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': '-g -v4 '}.items()
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
new file mode 100644
index 00000000..b539a123
--- /dev/null
+++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py
@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, ChanHyeong Lee
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import AppendEnvironmentVariable
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage4.world'
+    )
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH',
+        os.path.join(
+            get_package_share_directory('turtlebot3_gazebo'),
+            'models'
+        )
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items()
+    )
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': '-g -v4 '}.items()
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld
diff --git a/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf b/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
index 2a1ea27f..031697dc 100644
--- a/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
+++ b/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf
@@ -386,14 +386,14 @@
       <!-- limits -->
       <max_linear_acceleration>1.0</max_linear_acceleration>
 
-       <topic>cmd_vel</topic>
+      <topic>cmd_vel</topic>
 
-       <odom_topic>odom</odom_topic>
-       <frame_id>odom</frame_id>
-       <child_frame_id>base_footprint</child_frame_id>
-       <odom_publisher_frequency>30</odom_publisher_frequency>
+      <odom_topic>odom</odom_topic>
+      <frame_id>odom</frame_id>
+      <child_frame_id>base_footprint</child_frame_id>
+      <odom_publisher_frequency>30</odom_publisher_frequency>
 
-       <tf_topic>/tf</tf_topic>
+      <tf_topic>/tf</tf_topic>
 
     </plugin>
 
diff --git a/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config b/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
index 06a790f6..ae5f8e3a 100644
--- a/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
+++ b/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config
@@ -4,7 +4,7 @@
   <name>TurtleBot3(Burger_cam)</name>
   <version>2.0</version>
   <sdf version="1.4">model-1_4.sdf</sdf>
-  <sdf version="1.6">model.sdf</sdf>
+  <sdf version="1.8">model.sdf</sdf>
 
   <author>
     <name>Taehun Lim(Darby)</name>
diff --git a/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf b/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
index d64e92b1..0797e402 100644
--- a/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
+++ b/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.6">
+<sdf version="1.8">
   <model name="turtlebot3_burger_cam">
     <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
 
@@ -446,14 +446,14 @@
       <!-- limits -->
       <max_linear_acceleration>1.0</max_linear_acceleration>
 
-       <topic>cmd_vel</topic>
+      <topic>cmd_vel</topic>
 
-       <odom_topic>odom</odom_topic>
-       <frame_id>odom</frame_id>
-       <child_frame_id>base_footprint</child_frame_id>
-       <odom_publisher_frequency>30</odom_publisher_frequency>
+      <odom_topic>odom</odom_topic>
+      <frame_id>odom</frame_id>
+      <child_frame_id>base_footprint</child_frame_id>
+      <odom_publisher_frequency>30</odom_publisher_frequency>
 
-       <tf_topic>/tf</tf_topic>
+      <tf_topic>/tf</tf_topic>
 
     </plugin>
 
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
new file mode 100644
index 00000000..e667c6a0
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>goal_box</name>
+    <version>1.0</version>
+    <sdf version="1.8">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
new file mode 100644
index 00000000..6c55bb35
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf
@@ -0,0 +1,24 @@
+<?xml version='1.0'?>
+<sdf version='1.8'>
+  <model name='goal_box'>
+    <static>true</static>
+    <pose>0 0 0.0005 0 0 0</pose>
+    <link name='goal_box'>
+      <pose>0 0 0 0 0 0</pose>
+      <visual name='goal_box_visual'>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.001</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1 0 0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
new file mode 100644
index 00000000..6b17cee4
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>inner_walls</name>
+    <version>1.0</version>
+    <sdf version="1.8">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World Inner Walls
+    </description>
+</model>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
new file mode 100644
index 00000000..2478e980
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf
@@ -0,0 +1,210 @@
+<?xml version='1.0'?>
+<sdf version='1.8'>
+  <model name='inner_walls'>
+    <pose>0 0 0 0 0 0</pose>
+    <static>true</static>
+    <link name='inner_wall_1'>
+      <pose>-2.0 -1.5 0.25 0 0 0</pose>
+      <collision name='inner_wall_1_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='inner_wall_visual'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='inner_wall_2'>
+      <pose>-0.5 -2.0 0.25 0 0 -1.5708</pose>
+      <collision name='inner_wall_2_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='inner_wall_2_visual'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='inner_wall_3'>
+      <pose>1.0 -1.0 0.25 0 0 1.5708</pose>
+      <collision name='inner_wall_3_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='inner_wall_3_visual'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='inner_wall_4'>
+      <pose>1.2 1.9 0.25 0 0 -1.5708</pose>
+      <collision name='inner_wall_4_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='inner_wall_4_visual'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='inner_wall_5'>
+      <pose>1.9 0.4 0.25 0 0 0</pose>
+      <collision name='inner_wall_5_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='inner_wall_5_visual'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='inner_wall_6'>
+      <pose>-0.5 1.5 0.25 0 0 0</pose>
+      <collision name='inner_wall_6_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='inner_wall_6_visual'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='inner_wall_7'>
+      <pose>-1.2 0.092 0.25 0 0 -1.5708</pose>
+      <collision name='inner_wall_7_collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='inner_wall_7_visual'>
+        <geometry>
+          <box>
+            <size>1 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+  </model>
+</sdf>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/textures/wood.png b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/textures/wood.png
new file mode 100644
index 00000000..8111b0c2
Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/textures/wood.png differ
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
new file mode 100644
index 00000000..01c16e98
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>turtlebot3_dqn_world</name>
+    <version>1.0</version>
+    <sdf version="1.8">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
new file mode 100644
index 00000000..f72b5345
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf
@@ -0,0 +1,128 @@
+<?xml version='1.0'?>
+<sdf version='1.8'>
+  <model name='turtlebot3_square'>
+    <pose>0 0 0 0 0 0</pose>
+    <static>true</static>
+
+    <link name='Wall_1'>
+      <pose>2.425 0 0.25 0 0 1.5708</pose>
+      <collision name='Wall_1_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='Wall_1_Visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='Wall_2'>
+      <pose>0 2.425 0.25 0 0 0</pose>
+      <collision name='Wall_2_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='Wall_2_Visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='Wall_3'>
+      <pose>-2.425 0 0.25 0 0 1.5708</pose>
+      <collision name='Wall_3_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='Wall_3_Visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <link name='Wall_4'>
+      <pose>0 -2.425 0.25 0 0 0</pose>
+      <collision name='Wall_4_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name='Wall_4_Visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <pbr>
+            <metal>
+              <albedo_map>textures/wood.png</albedo_map>
+            </metal>
+          </pbr>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+
+  </model>
+</sdf>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
new file mode 100644
index 00000000..34e11cd1
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacle1</name>
+    <version>1.0</version>
+    <sdf version="1.8">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
new file mode 100644
index 00000000..20c6906a
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf
@@ -0,0 +1,31 @@
+<?xml version='1.0'?>
+<sdf version='1.8'>
+  <model name="obstacle1">
+    <pose>2 2 0.25 0 0 0</pose>
+    <static>false</static>
+    <link name="link">
+      <collision name="obstacle1_collision">
+        <geometry>
+          <cylinder>
+            <radius>0.12</radius>
+            <length>0.25</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="obstacle1_visual">
+        <geometry>
+          <cylinder>
+            <radius>0.12</radius>
+            <length>0.25</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
new file mode 100644
index 00000000..c80563c9
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacle2</name>
+    <version>1.0</version>
+    <sdf version="1.8">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
new file mode 100644
index 00000000..dee19e00
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf
@@ -0,0 +1,32 @@
+<?xml version='1.0'?>
+<sdf version='1.8'>
+    <model name="obstacle2">
+      <pose>-2 -2 0.25 0 0 0</pose>
+      <static>false</static>
+      <link name="link">
+        <collision name="obstacle2_collision">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="obstacle2_visual">
+          <geometry>
+            <cylinder>
+              <radius>0.12</radius>
+              <length>0.25</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+    </model>
+</sdf>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
new file mode 100644
index 00000000..dc54c5c2
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<model>
+    <name>obstacles</name>
+    <version>1.0</version>
+    <sdf version="1.8">model.sdf</sdf>
+
+    <author>
+        <name>Ryan Shim</name>
+        <email>jhshim@robotis.com</email>
+    </author>
+
+    <description>
+        TurtleBot3 DQN World
+    </description>
+</model>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
new file mode 100644
index 00000000..b85a0955
--- /dev/null
+++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf
@@ -0,0 +1,108 @@
+<?xml version='1.0'?>
+<sdf version='1.8'>
+  <model name='obstacles'>
+    <pose>0 0 0 0 0 0</pose>
+    <static>false</static>
+
+    <link name='obstacle_1'>
+      <pose>-1.0 -1.0 0.25 0 0 0</pose>
+      <collision name='obstacle_1_collision'>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='obstacle_1_visual'>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <link name='obstacle_2'>
+      <pose>-1.0 1.0 0.25 0 0 0</pose>
+      <collision name='obstacle_2_collision'>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='obstacle_2_visual'>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <link name='obstacle_3'>
+      <pose>1.0 -1.0 0.25 0 0 0</pose>
+      <collision name='obstacle_3_collision'>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='obstacle_3_visual'>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <link name='obstacle_4'>
+      <pose>1.0 1.0 0.25 0 0 0</pose>
+      <collision name='obstacle_4_collision'>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name='obstacle_4_visual'>
+        <geometry>
+          <cylinder>
+            <radius>0.15</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/White</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/textures/wood.png b/turtlebot3_gazebo/models/turtlebot3_dqn_world/textures/wood.png
new file mode 100644
index 00000000..8111b0c2
Binary files /dev/null and b/turtlebot3_gazebo/models/turtlebot3_dqn_world/textures/wood.png differ
diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle/model.config b/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
index b7a7c77d..70afb5d5 100644
--- a/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
+++ b/turtlebot3_gazebo/models/turtlebot3_waffle/model.config
@@ -4,7 +4,7 @@
   <name>TurtleBot3(Waffle)</name>
   <version>2.0</version>
   <sdf version="1.4">model-1_4.sdf</sdf>
-  <sdf version="1.5">model.sdf</sdf>
+  <sdf version="1.8">model.sdf</sdf>
 
   <author>
     <name>Taehun Lim(Darby)</name>
diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf b/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
index 1ec98357..b4c44ca7 100644
--- a/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
+++ b/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
@@ -479,25 +479,25 @@
 
     <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
 
-       <!-- wheels -->
-       <left_joint>wheel_left_joint</left_joint>
-       <right_joint>wheel_right_joint</right_joint>
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
 
-       <!-- kinematics -->
-       <wheel_separation>0.287</wheel_separation>
-       <wheel_radius>0.033</wheel_radius>
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_radius>0.033</wheel_radius>
 
-       <!-- limits -->
-       <max_linear_acceleration>1.0</max_linear_acceleration>
+      <!-- limits -->
+      <max_linear_acceleration>1.0</max_linear_acceleration>
 
-       <topic>cmd_vel</topic>
+      <topic>cmd_vel</topic>
 
-       <odom_topic>odom</odom_topic>
-       <frame_id>odom</frame_id>
-       <child_frame_id>base_footprint</child_frame_id>
-       <odom_publisher_frequency>30</odom_publisher_frequency>
+      <odom_topic>odom</odom_topic>
+      <frame_id>odom</frame_id>
+      <child_frame_id>base_footprint</child_frame_id>
+      <odom_publisher_frequency>30</odom_publisher_frequency>
 
-       <tf_topic>/tf</tf_topic>
+      <tf_topic>/tf</tf_topic>
 
     </plugin>
 
diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
index 2730a6d0..cbbd1516 100644
--- a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
+++ b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config
@@ -4,7 +4,7 @@
   <name>TurtleBot3(Waffle Pi)</name>
   <version>2.0</version>
   <sdf version="1.4">model-1_4.sdf</sdf>
-  <sdf version="1.5">model.sdf</sdf>
+  <sdf version="1.8">model.sdf</sdf>
 
   <author>
     <name>Taehun Lim(Darby)</name>
diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
index 911ff42a..b898477a 100644
--- a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
+++ b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.8">
   <model name="turtlebot3_waffle_pi">
   <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
 
@@ -139,7 +139,7 @@
         <update_rate>10</update_rate>
         <topic>scan</topic>
         <gz_frame_id>base_scan</gz_frame_id>
-        <lidar>
+        <ray>
           <scan>
             <horizontal>
               <samples>360</samples>
@@ -158,7 +158,7 @@
             <mean>0.0</mean>
             <stddev>0.01</stddev>
           </noise>
-        </lidar>
+        </ray>
       </sensor>
     </link>
 
@@ -479,25 +479,25 @@
 
     <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
 
-       <!-- wheels -->
-       <left_joint>wheel_left_joint</left_joint>
-       <right_joint>wheel_right_joint</right_joint>
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
 
-       <!-- kinematics -->
-       <wheel_separation>0.287</wheel_separation>
-       <wheel_radius>0.033</wheel_radius>
+      <!-- kinematics -->
+      <wheel_separation>0.287</wheel_separation>
+      <wheel_radius>0.033</wheel_radius>
 
-       <!-- limits -->
-       <max_linear_acceleration>1.0</max_linear_acceleration>
+      <!-- limits -->
+      <max_linear_acceleration>1.0</max_linear_acceleration>
 
-       <topic>cmd_vel</topic>
+      <topic>cmd_vel</topic>
 
-       <odom_topic>odom</odom_topic>
-       <frame_id>odom</frame_id>
-       <child_frame_id>base_footprint</child_frame_id>
-       <odom_publisher_frequency>30</odom_publisher_frequency>
+      <odom_topic>odom</odom_topic>
+      <frame_id>odom</frame_id>
+      <child_frame_id>base_footprint</child_frame_id>
+      <odom_publisher_frequency>30</odom_publisher_frequency>
 
-       <tf_topic>/tf</tf_topic>
+      <tf_topic>/tf</tf_topic>
 
     </plugin>
 
diff --git a/turtlebot3_gazebo/package.xml b/turtlebot3_gazebo/package.xml
index 39aed027..fdbc6acd 100644
--- a/turtlebot3_gazebo/package.xml
+++ b/turtlebot3_gazebo/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_gazebo</name>
-  <version>2.3.3</version>
+  <version>2.3.5</version>
   <description>
     Gazebo simulation package for the TurtleBot3
   </description>
@@ -22,6 +22,9 @@
   <depend>ros_gz_bridge</depend>
   <depend>ros_gz_image</depend>
   <depend>ros_gz_sim</depend>
+  <depend>gz_sim_vendor</depend>
+  <depend>gz_plugin_vendor</depend>
+  <depend>gz_math_vendor</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <export>
diff --git a/turtlebot3_gazebo/src/obstacle1.cpp b/turtlebot3_gazebo/src/obstacle1.cpp
index 63540ade..d5880c2c 100644
--- a/turtlebot3_gazebo/src/obstacle1.cpp
+++ b/turtlebot3_gazebo/src/obstacle1.cpp
@@ -12,53 +12,84 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #include "turtlebot3_gazebo/obstacle1.hpp"
 
-namespace gazebo
+#include <gz/math/Pose3.hh>
+#include <gz/plugin/Register.hh>
+#include <sdf/Element.hh>
+
+namespace turtlebot3_gazebo
 {
-void Obstacle1::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+
+void Obstacle1Plugin::Configure(
+  const gz::sim::Entity & entity,
+  const std::shared_ptr<const sdf::Element> &,
+  gz::sim::EntityComponentManager &,
+  gz::sim::EventManager &)
 {
-  this->model = _parent;
+  this->model = gz::sim::Model(entity);
+  this->startTime = std::chrono::steady_clock::now();
 
-  gazebo::common::PoseAnimationPtr anim(
-    new gazebo::common::PoseAnimation("move1", 160.0, true));
+  this->waypoints = {
+    {2.0, 2.0, 0.25},
+    {1.5, 1.0, 0.25},
+    {-1.5, 1.0, 0.25},
+    {-1.7, -1.0, 0.25},
+    {-1.5, 1.0, 0.25},
+    {1.5, 1.0, 0.25},
+    {2.0, 2.0, 0.25}
+  };
 
-  gazebo::common::PoseKeyFrame * key;
+  this->segmentDistances.clear();
+  this->totalDistance = 0.0;
 
-  key = anim->CreateKeyFrame(0);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  for (size_t i = 0; i < waypoints.size() - 1; ++i) {
+    double dist = (waypoints[i + 1] - waypoints[i]).Length();
+    this->segmentDistances.push_back(dist);
+    this->totalDistance += dist;
+  }
+}
 
-  key = anim->CreateKeyFrame(10);
-  key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+void Obstacle1Plugin::PreUpdate(
+  const gz::sim::UpdateInfo &,
+  gz::sim::EntityComponentManager & ecm)
+{
+  if (!this->model.Valid(ecm)) {return;}
 
-  key = anim->CreateKeyFrame(50);
-  key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  auto now = std::chrono::steady_clock::now();
+  std::chrono::duration<double> elapsed = now - this->startTime;
 
-  key = anim->CreateKeyFrame(70);
-  key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  double travelDist = std::fmod(elapsed.count() * this->speed, this->totalDistance);
 
-  key = anim->CreateKeyFrame(90);
-  key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  size_t idx = 0;
+  double acc = 0.0;
 
-  key = anim->CreateKeyFrame(130);
-  key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  while (idx < segmentDistances.size() && acc + segmentDistances[idx] < travelDist) {
+    acc += segmentDistances[idx];
+    ++idx;
+  }
 
-  key = anim->CreateKeyFrame(140);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  if (idx >= segmentDistances.size()) {return;}
 
-  key = anim->CreateKeyFrame(160);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  double localT = (travelDist - acc) / segmentDistances[idx];
+  gz::math::Vector3d start = waypoints[idx];
+  gz::math::Vector3d end = waypoints[idx + 1];
+  gz::math::Vector3d currentPos = start + (end - start) * localT;
 
-  _parent->SetAnimation(anim);
+  gz::math::Pose3d pose(currentPos, gz::math::Quaterniond::Identity);
+  this->model.SetWorldPoseCmd(ecm, pose);
 }
-}  // namespace gazebo
+
+}  // namespace turtlebot3_gazebo
+
+GZ_ADD_PLUGIN(
+  turtlebot3_gazebo::Obstacle1Plugin,
+  gz::sim::System,
+  gz::sim::ISystemConfigure,
+  gz::sim::ISystemPreUpdate)
+
+GZ_ADD_PLUGIN_ALIAS(
+  turtlebot3_gazebo::Obstacle1Plugin,
+  "turtlebot3_gazebo::Obstacle1Plugin")
diff --git a/turtlebot3_gazebo/src/obstacle2.cpp b/turtlebot3_gazebo/src/obstacle2.cpp
index 967e2825..c89e8581 100644
--- a/turtlebot3_gazebo/src/obstacle2.cpp
+++ b/turtlebot3_gazebo/src/obstacle2.cpp
@@ -12,69 +12,88 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #include "turtlebot3_gazebo/obstacle2.hpp"
 
-namespace gazebo
-{
-void Obstacle2::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
-{
-  this->model = _parent;
-
-  gazebo::common::PoseAnimationPtr anim(
-    new gazebo::common::PoseAnimation("move2", 140.0, true));
+#include <gz/math/Pose3.hh>
+#include <gz/plugin/Register.hh>
+#include <sdf/Element.hh>
 
-  gazebo::common::PoseKeyFrame * key;
-
-  key = anim->CreateKeyFrame(0);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+namespace turtlebot3_gazebo
+{
 
-  key = anim->CreateKeyFrame(10);
-  key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+void Obstacle2Plugin::Configure(
+  const gz::sim::Entity & entity,
+  const std::shared_ptr<const sdf::Element> &,
+  gz::sim::EntityComponentManager &,
+  gz::sim::EventManager &)
+{
+  this->model = gz::sim::Model(entity);
+  this->startTime = std::chrono::steady_clock::now();
+
+  this->waypoints = {
+    {-2.0, -2.0, 0.25},
+    {-1.3, -1.8, 0.25},
+    {0.5, 2.0, 0.25},
+    {-2.0, 1.5, 0.25},
+    {1.5, -0.2, 0.25},
+    {1.5, -2.0, 0.25},
+    {0.0, -1.5, 0.25},
+    {-0.5, -1.0, 0.25},
+    {-1.0, -1.5, 0.25},
+    {-1.5, -1.9, 0.25},
+    {-2.0, -2.0, 0.25}
+  };
+
+  this->segmentDistances.clear();
+  this->totalDistance = 0.0;
+
+  for (size_t i = 0; i < waypoints.size() - 1; ++i) {
+    double dist = (waypoints[i + 1] - waypoints[i]).Length();
+    this->segmentDistances.push_back(dist);
+    this->totalDistance += dist;
+  }
+}
 
-  key = anim->CreateKeyFrame(40);
-  key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+void Obstacle2Plugin::PreUpdate(
+  const gz::sim::UpdateInfo &,
+  gz::sim::EntityComponentManager & ecm)
+{
+  if (!this->model.Valid(ecm)) {return;}
 
-  key = anim->CreateKeyFrame(55);
-  key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  auto now = std::chrono::steady_clock::now();
+  std::chrono::duration<double> elapsed = now - this->startTime;
 
-  key = anim->CreateKeyFrame(85);
-  key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  double travelDist = std::fmod(elapsed.count() * this->speed, this->totalDistance);
 
-  key = anim->CreateKeyFrame(100);
-  key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  size_t idx = 0;
+  double acc = 0.0;
 
-  key = anim->CreateKeyFrame(110);
-  key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  while (idx < segmentDistances.size() && acc + segmentDistances[idx] < travelDist) {
+    acc += segmentDistances[idx];
+    ++idx;
+  }
 
-  key = anim->CreateKeyFrame(115);
-  key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  if (idx >= segmentDistances.size()) {return;}
 
-  key = anim->CreateKeyFrame(120);
-  key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  double localT = (travelDist - acc) / segmentDistances[idx];
+  gz::math::Vector3d start = waypoints[idx];
+  gz::math::Vector3d end = waypoints[idx + 1];
+  gz::math::Vector3d currentPos = start + (end - start) * localT;
 
-  key = anim->CreateKeyFrame(125);
-  key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  gz::math::Pose3d pose(currentPos, gz::math::Quaterniond::Identity);
+  this->model.SetWorldPoseCmd(ecm, pose);
+}
 
-  key = anim->CreateKeyFrame(130);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+}  // namespace turtlebot3_gazebo
 
-  key = anim->CreateKeyFrame(140);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+GZ_ADD_PLUGIN(
+  turtlebot3_gazebo::Obstacle2Plugin,
+  gz::sim::System,
+  gz::sim::ISystemConfigure,
+  gz::sim::ISystemPreUpdate)
 
-  _parent->SetAnimation(anim);
-}
-}  // namespace gazebo
+GZ_ADD_PLUGIN_ALIAS(
+  turtlebot3_gazebo::Obstacle2Plugin,
+  "turtlebot3_gazebo::Obstacle2Plugin")
diff --git a/turtlebot3_gazebo/src/obstacles.cpp b/turtlebot3_gazebo/src/obstacles.cpp
index 2bdfefaa..cd16712d 100644
--- a/turtlebot3_gazebo/src/obstacles.cpp
+++ b/turtlebot3_gazebo/src/obstacles.cpp
@@ -12,33 +12,59 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 //
-// Author: Ryan Shim
+// Author: Ryan Shim, ChanHyeong Lee
 
 #include "turtlebot3_gazebo/obstacles.hpp"
 
-namespace gazebo
+#include <cmath>
+#include <memory>
+
+#include <gz/math/Quaternion.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/sim/Types.hh>
+
+namespace turtlebot3_gazebo
+{
+
+void ObstaclesPlugin::Configure(
+  const gz::sim::Entity & entity,
+  const std::shared_ptr<const sdf::Element> &,
+  gz::sim::EntityComponentManager &,
+  gz::sim::EventManager &)
 {
-void Obstacles::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+  this->model = gz::sim::Model(entity);
+  this->startTime = std::chrono::steady_clock::now();
+}
+
+void ObstaclesPlugin::PreUpdate(
+  const gz::sim::UpdateInfo &,
+  gz::sim::EntityComponentManager & ecm)
 {
-  this->model = _parent;
+  if (!this->model.Valid(ecm)) {
+    return;
+  }
 
-  gazebo::common::PoseAnimationPtr anim(
-    new gazebo::common::PoseAnimation("move", 40.0, true));
+  auto now = std::chrono::steady_clock::now();
+  std::chrono::duration<double> elapsed = now - this->startTime;
+  double t = fmod(elapsed.count(), 80.0);
+  double angle = 2 * M_PI * t / 80.0;
 
-  gazebo::common::PoseKeyFrame * key;
+  gz::math::Pose3d pose(
+    gz::math::Vector3d(0, 0, 0),
+    gz::math::Quaterniond(0, 0, angle));
 
-  key = anim->CreateKeyFrame(0);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 0));
+  this->model.SetWorldPoseCmd(ecm, pose);
+}
 
-  key = anim->CreateKeyFrame(20);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, PI));
+}  // namespace turtlebot3_gazebo
 
-  key = anim->CreateKeyFrame(40);
-  key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0));
-  key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI));
+GZ_ADD_PLUGIN(
+  turtlebot3_gazebo::ObstaclesPlugin,
+  gz::sim::System,
+  gz::sim::ISystemConfigure,
+  gz::sim::ISystemPreUpdate)
 
-  _parent->SetAnimation(anim);
-}
-}  // namespace gazebo
+GZ_ADD_PLUGIN_ALIAS(
+  turtlebot3_gazebo::ObstaclesPlugin,
+  "turtlebot3_gazebo::ObstaclesPlugin")
diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
index b6225600..7e7b4dce 100644
--- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
+++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world
@@ -1,26 +1,24 @@
 <?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
+<sdf version="1.8">
+  <world name="dqn">
 
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
 
     <physics type="ode">
       <real_time_update_rate>1000.0</real_time_update_rate>
@@ -42,13 +40,30 @@
         </constraints>
       </ode>
     </physics>
-    
-    <model name="turtlebot3_dqn_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_dqn_world</uri>
-      </include>
-    </model>
+
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane</uri>
+    </include>
+    <light type="directional" name="sun">
+      <cast_shadows>false</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="turtlebot3_dqn_world">
+        <static>true</static>
+        <include>
+          <uri>model://turtlebot3_dqn_world</uri>
+        </include>
+      </model>
 
   </world>
 </sdf>
diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
index 8efeee78..36646ce8 100644
--- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
+++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world
@@ -1,26 +1,28 @@
 <?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
+<sdf version="1.8">
+  <world name="dqn">
 
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
 
     <physics type="ode">
       <real_time_update_rate>1000.0</real_time_update_rate>
@@ -43,13 +45,26 @@
       </ode>
     </physics>
 
-    <model name="turtlebot3_dqn_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_dqn_world</uri>
-      </include>
-    </model>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane</uri>
+    </include>
+    <light type="directional" name="sun">
+      <cast_shadows>false</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>
 
+    <include>
+      <uri>model://turtlebot3_dqn_world</uri>
+    </include>
     <include>
       <uri>model://turtlebot3_dqn_world/obstacles</uri>
     </include>
diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
index d8d7dc1a..e4f9873b 100644
--- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
+++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world
@@ -1,26 +1,28 @@
 <?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
+<sdf version="1.8">
+  <world name="dqn">
 
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
 
     <physics type="ode">
       <real_time_update_rate>1000.0</real_time_update_rate>
@@ -43,20 +45,31 @@
       </ode>
     </physics>
 
-    <model name="turtlebot3_dqn_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_dqn_world</uri>
-      </include>
-    </model>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane</uri>
+    </include>
 
-    <model name="turtlebot3_dqn_obstacles">
-      <plugin name="obstacles" filename="libobstacles.so"/>
-      <allow_auto_disable>1</allow_auto_disable>
-      <include>
-        <uri>model://turtlebot3_dqn_world/obstacles</uri>
-      </include>
-    </model>
+    <light type="directional" name="sun">
+      <cast_shadows>false</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>
+
+    <include>
+      <uri>model://turtlebot3_dqn_world</uri>
+    </include>
+    <include>
+      <uri>model://turtlebot3_dqn_world/obstacles</uri>
+      <plugin name="turtlebot3_gazebo::ObstaclesPlugin" filename="libobstacles.so"/>
+    </include>
 
   </world>
 </sdf>
diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
index b0174dca..861d981f 100644
--- a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
+++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world
@@ -1,26 +1,28 @@
 <?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="default">
+<sdf version="1.8">
+  <world name="dqn">
 
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <scene>
-      <shadows>false</shadows>
-    </scene>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
 
     <physics type="ode">
       <real_time_update_rate>1000.0</real_time_update_rate>
@@ -43,33 +45,38 @@
       </ode>
     </physics>
 
-    <model name="turtlebot3_dqn_world">
-      <static>1</static>
-      <include>
-        <uri>model://turtlebot3_dqn_world</uri>
-      </include>
-    </model>
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane</uri>
+    </include>
 
+    <light type="directional" name="sun">
+      <cast_shadows>false</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>
+
+    <include>
+      <uri>model://turtlebot3_dqn_world</uri>
+    </include>
     <include>
-      <pose>0 0 0 0 0 0</pose>
       <uri>model://turtlebot3_dqn_world/inner_walls</uri>
     </include>
-
-    <model name="turtlebot3_dqn_obstacle1">
-      <plugin name="obstacle1" filename="libobstacle1.so"/>
-      <include>
-        <pose>2 2 0 0 0 0</pose>
-        <uri>model://turtlebot3_dqn_world/obstacle1</uri>
-      </include>
-    </model>
-     
-    <model name="turtlebot3_dqn_obstacle2">
-      <plugin name="obstacle2" filename="libobstacle2.so"/>
-      <include>
-        <pose>-2 -2 0 0 0 0</pose>
-        <uri>model://turtlebot3_dqn_world/obstacle2</uri>
-      </include>
-    </model>
+    <include>
+      <uri>model://turtlebot3_dqn_world/obstacle1</uri>
+      <plugin name="turtlebot3_gazebo::Obstacle1Plugin" filename="libobstacle1.so"/>
+    </include>
+    <include>
+      <uri>model://turtlebot3_dqn_world/obstacle2</uri>
+      <plugin name="turtlebot3_gazebo::Obstacle2Plugin" filename="libobstacle2.so"/>
+    </include>
 
   </world>
 </sdf>
diff --git a/turtlebot3_simulations/CHANGELOG.rst b/turtlebot3_simulations/CHANGELOG.rst
index c554d72d..5de2941a 100644
--- a/turtlebot3_simulations/CHANGELOG.rst
+++ b/turtlebot3_simulations/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package turtlebot3_simulations
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.5 (2025-06-04)
+------------------
+* Added turtlebot3_machine_learning world and plugin
+* Contributors: ChanHyeong Lee
+
 2.3.3 (2025-05-29)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt, related PR(https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/234)
diff --git a/turtlebot3_simulations/package.xml b/turtlebot3_simulations/package.xml
index f338fb40..e71b3518 100644
--- a/turtlebot3_simulations/package.xml
+++ b/turtlebot3_simulations/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>turtlebot3_simulations</name>
-  <version>2.3.3</version>
+  <version>2.3.5</version>
   <description>
     ROS 2 packages for TurtleBot3 simulations
   </description>