diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
index d61809b..212fdf5 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch
@@ -9,8 +9,13 @@
   <arg name="debug" default="false" />
   <arg name="use_devfile" default="false" />
   <arg name="world_name" default="$(find raspimouse_gazebo)/worlds/empty.world" />
-  <arg name="xacro_option" default="lidar:=none" />
   <arg name="robot_namespace" default="/" />
+  <arg name="urg" default="false" />
+  <arg name="laser_option" default="laser_visual:=false" />
+  <arg name="lidar_frame" default="laser" />
+  <arg name="camera" default="false" />
+  <arg name="camera_visual_option" default="camera_visual:=false" />
+  <arg name="xacro_option" default="" />
   
   <!-- Initial position in Gazebo -->
   <arg name="x0" default="0"/>
@@ -36,6 +41,12 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
     respawn="false" output="screen" />
 
+  <arg name="urg_option" value="lidar:='urg'" if="$(arg urg)" />
+  <arg name="urg_option" value="lidar:='none'" unless="$(arg urg)" />
+
+  <arg name="camera_option" value="camera:=true" if="$(arg camera)" />
+  <arg name="camera_option" value="camera:=false" unless="$(arg camera)" />
+
   <group if="$(arg use_devfile)">
     <!-- Simulate device file -->
     <include file="$(find raspimouse_fake)/launch/virtual_device_file.launch" />
@@ -45,6 +56,8 @@
                 robot_namespace:='$(arg robot_namespace)'
                 diffdrive_namespace:='$(arg robot_namespace)raspimouse_on_gazebo'
                 sensor_namespace:='raspimouse_on_gazebo'
+                $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'
+                $(arg camera_option) $(arg camera_visual_option)
                 $(arg xacro_option)" />
   </group>
   <group unless="$(arg use_devfile)">
@@ -56,6 +69,8 @@
                 robot_namespace:='$(arg robot_namespace)'
                 diffdrive_namespace:='$(arg robot_namespace)'
                 sensor_namespace:='raspimouse_on_gazebo'
+                $(arg urg_option) $(arg laser_option) lidar_frame:='$(arg lidar_frame)'
+                $(arg camera_option) $(arg camera_visual_option)
                 $(arg xacro_option)" />
   </group>
 </launch>
diff --git a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
index 7061cf1..0b277f5 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_gasstand.launch
@@ -6,6 +6,8 @@
   <arg name="gui" default="true" />
   <arg name="headless" default="false" />
   <arg name="debug" default="false" />
+  <arg name="urg" default="true" />
+  <arg name="lidar_frame" default="laser" />
   <arg name="use_devfile" default="false" />
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
@@ -14,7 +16,8 @@
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/gas_station.world" />
-    <arg name="xacro_option" value="lidar:=urg" />
+    <arg name="urg" value="$(arg urg)" />
+    <arg name="lidar_frame" value="$(arg lidar_frame)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />
diff --git a/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch b/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
index 9a58b5a..dc76506 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_samplemaze.launch
@@ -6,6 +6,7 @@
   <arg name="gui" default="true" />
   <arg name="headless" default="false" />
   <arg name="debug" default="false" />
+  <arg name="urg" default="false" />
   <arg name="use_devfile" default="false" />
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
@@ -14,7 +15,7 @@
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/sample_maze.world" />
-    <arg name="xacro_option" value="lidar:=none" />
+    <arg name="urg" value="$(arg urg)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />
diff --git a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
index aac24f7..cc0835a 100644
--- a/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
+++ b/raspimouse_gazebo/launch/raspimouse_with_willowgarage.launch
@@ -6,6 +6,8 @@
   <arg name="gui" default="true" />
   <arg name="headless" default="false" />
   <arg name="debug" default="false" />
+  <arg name="urg" default="true" />
+  <arg name="lidar_frame" default="laser" />
   <arg name="use_devfile" default="false" />
   <arg name="x0" default="0" />
   <arg name="y0" default="0" />
@@ -14,7 +16,8 @@
   <!-- Load the Gazebo simulator with specified world file -->
   <include file="$(find raspimouse_gazebo)/launch/raspimouse_with_emptyworld.launch">
     <arg name="world_name" value="$(find raspimouse_gazebo)/worlds/willowgarage.world" />
-    <arg name="xacro_option" value="lidar:=urg" />
+    <arg name="urg" value="$(arg urg)" />
+    <arg name="lidar_frame" value="$(arg lidar_frame)" />
     <arg name="use_devfile" value="$(arg use_devfile)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />