diff --git a/models/fms_t_road/model.config b/models/fms_t_road/model.config
deleted file mode 100644
index f4e3fed..0000000
--- a/models/fms_t_road/model.config
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>Ground Factory</name>
-  <version>1.0</version>
-  <sdf version="1.6">model.sdf</sdf>
-  <author>
-    <name>Sungkyu Kang</name>
-    <email>sungkyu.kang@lge.com</email>
-  </author>
-
-  <description>
-    A simple t road ground plane.
-  </description>
-</model>
diff --git a/models/fms_t_road/model.sdf b/models/fms_t_road/model.sdf
deleted file mode 100644
index 0a3bdba..0000000
--- a/models/fms_t_road/model.sdf
+++ /dev/null
@@ -1,609 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-<model name='fms_t_road'>
-  <static>true</static>
-  <pose>0 0 0 0 0 0</pose>
-  <link name='link'>
-    <collision name='collision'>
-      <geometry>
-        <plane>
-          <normal>0 0 1</normal>
-          <size>1000 1000</size>
-        </plane>
-      </geometry>
-    </collision>
-
-    <visual name='visual'>
-      <cast_shadows>0</cast_shadows>
-      <geometry>
-        <plane>
-          <normal>0 0 1</normal>
-          <size>1000 1000</size>
-        </plane>
-      </geometry>
-      <material> 
-        <ambient>0.2 0.2 0.2 0.0</ambient>
-        <diffuse>0.2 0.2 0.2 0.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-
-  <link name="wall_0">
-    <pose>0.00 3.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_0">
-    <pose>-0.30 2.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_0">
-    <pose>0.00 1.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_0">
-    <pose>-0.30 0.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-      <material>
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-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_0">
-    <pose>0.00 -1.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
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-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_0">
-    <pose>-0.30 -2.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
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-        </box>
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-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_0">
-    <pose>0.00 -3.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
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-    <visual>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
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-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_1">
-    <pose>0.65 3.65 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>1.60 0.30 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>1.60 0.30 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_2">
-    <pose>0.65 -3.65 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>1.60 0.30 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>1.60 0.30 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_3">
-    <pose>1.30 1.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
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-    <visual>
-      <geometry>
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-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_4">
-    <pose>1.30 -3.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_3">
-    <pose>1.60 2.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_4">
-    <pose>1.60 -2.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
-      </material>
-    </visual>
-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_3">
-    <pose>1.30 3.00 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
-        <box>
-          <size>0.30 1.00 1.00</size>
-        </box>
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-    <visual>
-      <geometry>
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-      </geometry>
-      <material>
-        <ambient>0.4 0.4 0.4 1.0</ambient>
-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
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-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
-  </link>
-  <link name="wall_4">
-    <pose>1.30 -1.00 0.50 0 0 0</pose>
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-          <size>0.30 1.00 1.00</size>
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-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
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-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
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-  <link name="wall_5">
-    <pose>1.95 0.65 0.50 0 0 0</pose>
-    <collision>
-      <geometry>
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-          <size>1.00 0.30 1.00</size>
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-      <material>
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-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
-        <emissive>0 0 0 1</emissive>
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-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
-    <kinematic>0</kinematic>
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-  <link name="wall_6">
-    <pose>1.95 -0.65 0.50 0 0 0</pose>
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-        <diffuse>0.4 0.4 0.4 1.0</diffuse>
-        <specular>0 0 0 0</specular>
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-    <pose>2.95 -0.95 0.50 0 0 0</pose>
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-    <self_collide>0</self_collide>
-    <enable_wind>0</enable_wind>
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-    <pose>3.95 0.65 0.50 0 0 0</pose>
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-        <emissive>0 0 0 1</emissive>
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-    <enable_wind>0</enable_wind>
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-  <link name="wall_7">
-    <pose>4.30 0.00 0.50 0 0 0</pose>
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-        <emissive>0 0 0 1</emissive>
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diff --git a/worlds/fms_t_road.world b/worlds/fms_t_road.world
deleted file mode 100644
index b01b9e2..0000000
--- a/worlds/fms_t_road.world
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version='1.6'>
-<world name='default'>
-  <include>
-    <uri>model://sun</uri>
-    <pose>12 0 20 0 0 0</pose>
-  </include>
-
-  <gui>
-    <camera name="user_camera">
-      <pose>3.5 0.0 10 0 1.57 3.14</pose>
-    </camera>
-  </gui>
-
-  <include>
-    <uri>model://fms_t_road</uri>
-  </include>
-
-  <include>
-    <name>cloi</name>
-    <uri>model://CLOi_ServeBot_FnB</uri>
-    <pose>0.65 -3.0 0 0 0 1.57</pose>
-  </include>
-
-  <include>
-    <name>cloi01</name>
-    <uri>model://CLOi_ServeBot_FnB</uri>
-    <pose>0.65 -2.0 0 0 0 1.57</pose>
-  </include>
-
-  <!-- <include>
-    <name>cloi02</name>
-    <uri>model://CLOi_ServeBot_FnB</uri>
-    <pose>0.65 -1.0 0 0 0 -1.57</pose>
-  </include> -->
-</world>
-</sdf>