diff --git a/pal-gazebo-worlds/Makefile b/pal-gazebo-worlds/Makefile
index 690fb571febbce92a6850ccaf997b8247abb8c50..ca0a0a8fc640aedde754f41519f1536ab2af107f 100644
--- a/pal-gazebo-worlds/Makefile
+++ b/pal-gazebo-worlds/Makefile
@@ -8,6 +8,7 @@ DISTNAME=	${VERSION}
 ROSNAME=	$(subst -,_,${PKGBASE})
 WRKSRC=		${WRKDIR}/${ROSNAME}-${VERSION}
 DIST_SUBDIR=	${PKGBASE}
+PKG_REVISION=	1
 
 CATEGORIES=	wip
 HOMEPAGE=		${MASTER_SITE_GITHUB:=pal-robotics/${ROSNAME}}
diff --git a/pal-gazebo-worlds/PLIST b/pal-gazebo-worlds/PLIST
index 340d23a395fee1f4ad4d927879a1d3316123f1fe..835ddf940602826023e7312e166668346da5678f 100644
--- a/pal-gazebo-worlds/PLIST
+++ b/pal-gazebo-worlds/PLIST
@@ -1,10 +1,20 @@
-@comment Fri Apr 13 17:01:04 CEST 2018
+@comment Tue Jul 10 13:12:25 CEST 2018
 lib/pkgconfig/pal_gazebo_worlds.pc
 share/pal_gazebo_worlds/cmake/pal_gazebo_worldsConfig-version.cmake
 share/pal_gazebo_worlds/cmake/pal_gazebo_worldsConfig.cmake
 share/pal_gazebo_worlds/launch/pal_gazebo.launch
 share/pal_gazebo_worlds/meshes/chessboard/chessboard.dae
 share/pal_gazebo_worlds/meshes/chessboard/chessboard.png
+share/pal_gazebo_worlds/models/arm_chair/arm_chair.sdf
+share/pal_gazebo_worlds/models/arm_chair/meshes/arm_chair.stl
+share/pal_gazebo_worlds/models/arm_chair/model.config
+share/pal_gazebo_worlds/models/aruco_cube/aruco_cube.sdf
+share/pal_gazebo_worlds/models/aruco_cube/meshes/aruco_cube_5cm.dae
+share/pal_gazebo_worlds/models/aruco_cube/meshes/aruco_cube_6cm.dae
+share/pal_gazebo_worlds/models/aruco_cube/meshes/aruco_cube_8cm.dae
+share/pal_gazebo_worlds/models/aruco_cube/meshes/marker582.png
+share/pal_gazebo_worlds/models/aruco_cube/meshes/marker582_small_margin.png
+share/pal_gazebo_worlds/models/aruco_cube/model.config
 share/pal_gazebo_worlds/models/aruco_marker_250_6x6_1/aruco_marker_250_6x6.sdf
 share/pal_gazebo_worlds/models/aruco_marker_250_6x6_1/material/scripts/aruco_marker_250_6x6.material
 share/pal_gazebo_worlds/models/aruco_marker_250_6x6_1/material/textures/Aruco_6x6_250_0.png
@@ -21,6 +31,38 @@ share/pal_gazebo_worlds/models/aruco_marker_250_6x6_4/aruco_marker_250_6x6.sdf
 share/pal_gazebo_worlds/models/aruco_marker_250_6x6_4/material/scripts/aruco_marker_250_6x6.material
 share/pal_gazebo_worlds/models/aruco_marker_250_6x6_4/material/textures/Aruco_6x6_250_3.png
 share/pal_gazebo_worlds/models/aruco_marker_250_6x6_4/model.config
+share/pal_gazebo_worlds/models/aruco_marker_6cm_238/aruco_marker_6cm.sdf
+share/pal_gazebo_worlds/models/aruco_marker_6cm_238/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/aruco_marker_6cm_238/material/textures/Aruco_6cm_238.png
+share/pal_gazebo_worlds/models/aruco_marker_6cm_238/model.config
+share/pal_gazebo_worlds/models/aruco_marker_6cm_26/aruco_marker_6cm.sdf
+share/pal_gazebo_worlds/models/aruco_marker_6cm_26/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/aruco_marker_6cm_26/material/textures/Aruco_6cm_26.png
+share/pal_gazebo_worlds/models/aruco_marker_6cm_26/model.config
+share/pal_gazebo_worlds/models/aruco_marker_6cm_582/aruco_marker_6cm.sdf
+share/pal_gazebo_worlds/models/aruco_marker_6cm_582/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/aruco_marker_6cm_582/material/textures/Aruco_6cm_582.png
+share/pal_gazebo_worlds/models/aruco_marker_6cm_582/model.config
+share/pal_gazebo_worlds/models/aruco_marker_6cm_63/aruco_marker_6cm.sdf
+share/pal_gazebo_worlds/models/aruco_marker_6cm_63/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/aruco_marker_6cm_63/material/textures/Aruco_6cm_63.png
+share/pal_gazebo_worlds/models/aruco_marker_6cm_63/model.config
+share/pal_gazebo_worlds/models/aruco_marker_9cm_238/aruco_marker_9cm.sdf
+share/pal_gazebo_worlds/models/aruco_marker_9cm_238/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/aruco_marker_9cm_238/material/textures/Aruco_9cm_238.png
+share/pal_gazebo_worlds/models/aruco_marker_9cm_238/model.config
+share/pal_gazebo_worlds/models/aruco_marker_9cm_26/aruco_marker_9cm.sdf
+share/pal_gazebo_worlds/models/aruco_marker_9cm_26/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/aruco_marker_9cm_26/material/textures/Aruco_9cm_26.png
+share/pal_gazebo_worlds/models/aruco_marker_9cm_26/model.config
+share/pal_gazebo_worlds/models/aruco_marker_9cm_582/aruco_marker_9cm.sdf
+share/pal_gazebo_worlds/models/aruco_marker_9cm_582/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/aruco_marker_9cm_582/material/textures/Aruco_9cm_582.png
+share/pal_gazebo_worlds/models/aruco_marker_9cm_582/model.config
+share/pal_gazebo_worlds/models/aruco_marker_9cm_63/aruco_marker_9cm.sdf
+share/pal_gazebo_worlds/models/aruco_marker_9cm_63/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/aruco_marker_9cm_63/material/textures/Aruco_9cm_63.png
+share/pal_gazebo_worlds/models/aruco_marker_9cm_63/model.config
 share/pal_gazebo_worlds/models/aruco_marker_original_238/aruco_marker_original.sdf
 share/pal_gazebo_worlds/models/aruco_marker_original_238/material/scripts/aruco_marker_original.material
 share/pal_gazebo_worlds/models/aruco_marker_original_238/material/textures/Aruco_original_238.png
@@ -41,16 +83,78 @@ share/pal_gazebo_worlds/models/bauman/README
 share/pal_gazebo_worlds/models/bauman/bauman_walls.png
 share/pal_gazebo_worlds/models/bauman/model.config
 share/pal_gazebo_worlds/models/bauman/model.sdf
+share/pal_gazebo_worlds/models/bench/bench.sdf
+share/pal_gazebo_worlds/models/bench/meshes/bench.stl
+share/pal_gazebo_worlds/models/bench/model.config
+share/pal_gazebo_worlds/models/bifrutas_tropical_can/bifrutas_tropical_can.sdf
+share/pal_gazebo_worlds/models/bifrutas_tropical_can/material/scripts/bifrutas_tropical_can.material
+share/pal_gazebo_worlds/models/bifrutas_tropical_can/material/textures/bifrutas_tropical_can.jpg
+share/pal_gazebo_worlds/models/bifrutas_tropical_can/model.config
+share/pal_gazebo_worlds/models/biscuits_pack/biscuits_pack.sdf
+share/pal_gazebo_worlds/models/biscuits_pack/material/scripts/pringles.material
+share/pal_gazebo_worlds/models/biscuits_pack/material/textures/biscuits_pack.jpg
+share/pal_gazebo_worlds/models/biscuits_pack/model.config
+share/pal_gazebo_worlds/models/box_with_handles/box_with_handles.sdf
+share/pal_gazebo_worlds/models/box_with_handles/material/scripts/aruco_marker_original.material
+share/pal_gazebo_worlds/models/box_with_handles/material/textures/Aruco_original_582.png
+share/pal_gazebo_worlds/models/box_with_handles/model.config
+share/pal_gazebo_worlds/models/brick_box_3x1x3/materials/scripts/brick_box.material
+share/pal_gazebo_worlds/models/brick_box_3x1x3/materials/textures/simple_box.png
+share/pal_gazebo_worlds/models/brick_box_3x1x3/meshes/simple_box.dae
+share/pal_gazebo_worlds/models/brick_box_3x1x3/model-1_3.sdf
+share/pal_gazebo_worlds/models/brick_box_3x1x3/model-1_4.sdf
+share/pal_gazebo_worlds/models/brick_box_3x1x3/model.config
+share/pal_gazebo_worlds/models/brick_box_3x1x3/model.sdf
+share/pal_gazebo_worlds/models/citizen_extras_female_02/images/_01_-_Default1noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_female_02/images/_02_-_Default1noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_female_02/images/_03_-_Default1noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_female_02/meshes/mesh.dae
+share/pal_gazebo_worlds/models/citizen_extras_female_02/model.config
+share/pal_gazebo_worlds/models/citizen_extras_female_02/model.sdf
+share/pal_gazebo_worlds/models/citizen_extras_female_03/images/Material__1noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_female_03/images/Material__2noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_female_03/images/_03_-_Default1noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_female_03/meshes/mesh.dae
+share/pal_gazebo_worlds/models/citizen_extras_female_03/model.config
+share/pal_gazebo_worlds/models/citizen_extras_female_03/model.sdf
+share/pal_gazebo_worlds/models/citizen_extras_male_03/images/Material__1noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_male_03/images/hair1noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_male_03/images/hrad1noCulling.JPG
+share/pal_gazebo_worlds/models/citizen_extras_male_03/meshes/mesh.dae
+share/pal_gazebo_worlds/models/citizen_extras_male_03/model.config
+share/pal_gazebo_worlds/models/citizen_extras_male_03/model.sdf
+share/pal_gazebo_worlds/models/closet/closet.sdf
+share/pal_gazebo_worlds/models/closet/meshes/closet.stl
+share/pal_gazebo_worlds/models/closet/model.config
+share/pal_gazebo_worlds/models/cocacola/cocacola.sdf
+share/pal_gazebo_worlds/models/cocacola/material/scripts/cocacola.material
+share/pal_gazebo_worlds/models/cocacola/material/textures/cocacola.jpg
+share/pal_gazebo_worlds/models/cocacola/model.config
+share/pal_gazebo_worlds/models/coke_can_slim/coke_can_slim.sdf
+share/pal_gazebo_worlds/models/coke_can_slim/material/scripts/coke_can_slim.material
+share/pal_gazebo_worlds/models/coke_can_slim/material/textures/coke_can_slim.jpg
+share/pal_gazebo_worlds/models/coke_can_slim/model.config
 share/pal_gazebo_worlds/models/database.config
+share/pal_gazebo_worlds/models/dining_chair/dining_chair.sdf
+share/pal_gazebo_worlds/models/dining_chair/meshes/dining_chair.stl
+share/pal_gazebo_worlds/models/dining_chair/model.config
 share/pal_gazebo_worlds/models/dock1/dock1.sdf
 share/pal_gazebo_worlds/models/dock1/meshes/dock1.dae
 share/pal_gazebo_worlds/models/dock1/model.config
 share/pal_gazebo_worlds/models/door_obstacle/door_obstacle.sdf
 share/pal_gazebo_worlds/models/door_obstacle/model.config
+share/pal_gazebo_worlds/models/floor_lamp/floor_lamp.sdf
+share/pal_gazebo_worlds/models/floor_lamp/meshes/floor_lamp.stl
+share/pal_gazebo_worlds/models/floor_lamp/model.config
 share/pal_gazebo_worlds/models/goetz_sofa/goetz_sofa.sdf
 share/pal_gazebo_worlds/models/goetz_sofa/materials/textures/texture0.jpg
 share/pal_gazebo_worlds/models/goetz_sofa/meshes/goetz_sofa.dae
 share/pal_gazebo_worlds/models/goetz_sofa/model.config
+share/pal_gazebo_worlds/models/green_ball/materials/scripts/ball.material
+share/pal_gazebo_worlds/models/green_ball/model.config
+share/pal_gazebo_worlds/models/green_ball/model.sdf
+share/pal_gazebo_worlds/models/green_cube/green_cube.sdf
+share/pal_gazebo_worlds/models/green_cube/model.config
 share/pal_gazebo_worlds/models/ground_plane/model-1_2.sdf
 share/pal_gazebo_worlds/models/ground_plane/model-1_3.sdf
 share/pal_gazebo_worlds/models/ground_plane/model-1_4.sdf
@@ -77,6 +181,15 @@ share/pal_gazebo_worlds/models/ikea_urban_chair/meshes/mesh.dae
 share/pal_gazebo_worlds/models/ikea_urban_chair/meshes/notexture.png
 share/pal_gazebo_worlds/models/ikea_urban_chair/model.config
 share/pal_gazebo_worlds/models/ikea_urban_chair/model.sdf
+share/pal_gazebo_worlds/models/kitchen_chair/kitchen_chair.sdf
+share/pal_gazebo_worlds/models/kitchen_chair/meshes/kitchen_chair.stl
+share/pal_gazebo_worlds/models/kitchen_chair/model.config
+share/pal_gazebo_worlds/models/kitchen_table/kitchen_table.sdf
+share/pal_gazebo_worlds/models/kitchen_table/meshes/kitchen_table.stl
+share/pal_gazebo_worlds/models/kitchen_table/model.config
+share/pal_gazebo_worlds/models/lamp/lamp.sdf
+share/pal_gazebo_worlds/models/lamp/meshes/lamp.stl
+share/pal_gazebo_worlds/models/lamp/model.config
 share/pal_gazebo_worlds/models/macrolink_small_table/model.config
 share/pal_gazebo_worlds/models/macrolink_small_table/table.sdf
 share/pal_gazebo_worlds/models/macrolink_table/model.config
@@ -85,10 +198,22 @@ share/pal_gazebo_worlds/models/marker26_8cm/marker26_8cm.sdf
 share/pal_gazebo_worlds/models/marker26_8cm/material/scripts/marker26_8cm.material
 share/pal_gazebo_worlds/models/marker26_8cm/material/textures/aruco-26_8cm.png
 share/pal_gazebo_worlds/models/marker26_8cm/model.config
+share/pal_gazebo_worlds/models/pal_poster/material/scripts/pal_poster.material
+share/pal_gazebo_worlds/models/pal_poster/material/textures/pal_poster.jpg
+share/pal_gazebo_worlds/models/pal_poster/model.config
+share/pal_gazebo_worlds/models/pal_poster/pal_poster.sdf
 share/pal_gazebo_worlds/models/pal_textured_object/material/scripts/pal_textured_object.material
 share/pal_gazebo_worlds/models/pal_textured_object/material/textures/pal_textured_object.png
 share/pal_gazebo_worlds/models/pal_textured_object/model.config
 share/pal_gazebo_worlds/models/pal_textured_object/pal_textured_object.sdf
+share/pal_gazebo_worlds/models/pringles/material/scripts/pringles.material
+share/pal_gazebo_worlds/models/pringles/material/textures/pringles.jpg
+share/pal_gazebo_worlds/models/pringles/model.config
+share/pal_gazebo_worlds/models/pringles/pringles.sdf
+share/pal_gazebo_worlds/models/pringles2/material/scripts/pringles2.material
+share/pal_gazebo_worlds/models/pringles2/material/textures/pringles2.jpg
+share/pal_gazebo_worlds/models/pringles2/model.config
+share/pal_gazebo_worlds/models/pringles2/pringles2.sdf
 share/pal_gazebo_worlds/models/reemc_bookshelf/bookshelf.sdf
 share/pal_gazebo_worlds/models/reemc_bookshelf/model.config
 share/pal_gazebo_worlds/models/reemc_cabinet/cabinet.sdf
@@ -103,19 +228,50 @@ share/pal_gazebo_worlds/models/reemc_textured_object_nograv/model.config
 share/pal_gazebo_worlds/models/reemc_textured_object_nograv/model.sdf
 share/pal_gazebo_worlds/models/reemc_walls/model.config
 share/pal_gazebo_worlds/models/reemc_walls/walls.sdf
+share/pal_gazebo_worlds/models/reviews_table/meshes/reviews_table.stl
+share/pal_gazebo_worlds/models/reviews_table/model.config
+share/pal_gazebo_worlds/models/reviews_table/reviews_table.sdf
+share/pal_gazebo_worlds/models/robocup_walls_70cm_doors/house_walls.sdf
+share/pal_gazebo_worlds/models/robocup_walls_70cm_doors/meshes/robocup_house.stl
+share/pal_gazebo_worlds/models/robocup_walls_70cm_doors/model.config
+share/pal_gazebo_worlds/models/rockin_camp/README
+share/pal_gazebo_worlds/models/rockin_camp/model.config
+share/pal_gazebo_worlds/models/rockin_camp/model.sdf
+share/pal_gazebo_worlds/models/rockin_camp/rockin_camp.png
+share/pal_gazebo_worlds/models/sofa/meshes/sofa.stl
+share/pal_gazebo_worlds/models/sofa/model.config
+share/pal_gazebo_worlds/models/sofa/sofa.sdf
+share/pal_gazebo_worlds/models/sprite/material/scripts/sprite.material
+share/pal_gazebo_worlds/models/sprite/material/textures/sprite.jpg
+share/pal_gazebo_worlds/models/sprite/model.config
+share/pal_gazebo_worlds/models/sprite/sprite.sdf
 share/pal_gazebo_worlds/models/sun/model-1_2.sdf
 share/pal_gazebo_worlds/models/sun/model-1_3.sdf
 share/pal_gazebo_worlds/models/sun/model-1_4.sdf
 share/pal_gazebo_worlds/models/sun/model.config
 share/pal_gazebo_worlds/models/sun/model.sdf
+share/pal_gazebo_worlds/models/table_0m8/model.config
+share/pal_gazebo_worlds/models/table_0m8/table.sdf
+share/pal_gazebo_worlds/models/table_1m/model.config
+share/pal_gazebo_worlds/models/table_1m/table_1m.sdf
 share/pal_gazebo_worlds/models/test2/meshes/test2.dae
 share/pal_gazebo_worlds/models/test2/model.config
 share/pal_gazebo_worlds/models/test2/test2.sdf
+share/pal_gazebo_worlds/models/testing_room/README
+share/pal_gazebo_worlds/models/testing_room/model.config
+share/pal_gazebo_worlds/models/testing_room/model.sdf
+share/pal_gazebo_worlds/models/testing_room/testing_room.png
+share/pal_gazebo_worlds/models/tv/meshes/tv.stl
+share/pal_gazebo_worlds/models/tv/model.config
+share/pal_gazebo_worlds/models/tv/tv.sdf
 share/pal_gazebo_worlds/models/wall_with_reem_photo/material/scripts/ball.material
 share/pal_gazebo_worlds/models/wall_with_reem_photo/material/scripts/wallWithREEMphoto.material
 share/pal_gazebo_worlds/models/wall_with_reem_photo/material/textures/REEM_photo0.jpg
 share/pal_gazebo_worlds/models/wall_with_reem_photo/model.config
 share/pal_gazebo_worlds/models/wall_with_reem_photo/model.sdf
+share/pal_gazebo_worlds/models/wardrobe/meshes/wardrobe.stl
+share/pal_gazebo_worlds/models/wardrobe/model.config
+share/pal_gazebo_worlds/models/wardrobe/wardrobe.sdf
 share/pal_gazebo_worlds/package.xml
 share/pal_gazebo_worlds/urdf/chessboard/chessboard.gazebo.xacro
 share/pal_gazebo_worlds/urdf/chessboard/chessboard.urdf.xacro
@@ -125,10 +281,12 @@ share/pal_gazebo_worlds/worlds/docker_chair.world
 share/pal_gazebo_worlds/worlds/door_obstacle.world
 share/pal_gazebo_worlds/worlds/empty.world
 share/pal_gazebo_worlds/worlds/pal_textured_object.world
+share/pal_gazebo_worlds/worlds/pg_demo.world
 share/pal_gazebo_worlds/worlds/reemc.world
 share/pal_gazebo_worlds/worlds/reemc_indoor.world
 share/pal_gazebo_worlds/worlds/simple_office.world
 share/pal_gazebo_worlds/worlds/small_office.world
 share/pal_gazebo_worlds/worlds/small_office_door_obstacle.world
+share/pal_gazebo_worlds/worlds/stairs.world
 share/pal_gazebo_worlds/worlds/stamping_demo.world
 share/pal_gazebo_worlds/worlds/world_wall_REEM_photo.world