diff --git a/rrrobot_src/src/simulation_drivers/src/CMakeLists.txt b/rrrobot_src/src/simulation_drivers/src/CMakeLists.txt
new file mode 120000
index 0000000..66dd650
--- /dev/null
+++ b/rrrobot_src/src/simulation_drivers/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/rrrobot_src/src/simulation_drivers/src/simulation_env/CMakeLists.txt b/rrrobot_src/src/simulation_drivers/src/simulation_env/CMakeLists.txt
new file mode 100644
index 0000000..910828e
--- /dev/null
+++ b/rrrobot_src/src/simulation_drivers/src/simulation_env/CMakeLists.txt
@@ -0,0 +1,211 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(simulation_env)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ std_msgs
+ gazebo_ros
+)
+find_package(gazebo REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ INCLUDE_DIRS include
+# LIBRARIES simulation_env
+ CATKIN_DEPENDS roscpp std_msgs gazebo_ros
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+ ${roscpp_INCLUDE_DIRS}
+ ${std_msgs_INCLUDE_DIRS}
+ ${GAZEBO_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(arm_angles SHARED
+ src/arm_angle_sensor_plugin.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/simulation_env_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(arm_angles
+ ${catkin_LIBRARIES}
+ ${GAZEBO_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+install(TARGETS arm_angles
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION /home/rrrobot/rrrobot_src/lib/
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_simulation_env.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/rrrobot_src/src/simulation_drivers/src/simulation_env/package.xml b/rrrobot_src/src/simulation_drivers/src/simulation_env/package.xml
new file mode 100644
index 0000000..8c6680c
--- /dev/null
+++ b/rrrobot_src/src/simulation_drivers/src/simulation_env/package.xml
@@ -0,0 +1,68 @@
+
+
+ simulation_env
+ 0.0.0
+ The simulation_env package
+
+
+
+
+ root
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ roscpp
+ std_msgs
+ gazebo_ros
+ roscpp
+ std_msgs
+ gazebo_ros
+ roscpp
+ std_msgs
+ gazebo_ros
+
+
+
+
+
+
+
+
diff --git a/rrrobot_src/src/simulation_drivers/src/simulation_env/src/arm_angle_sensor_plugin.cpp b/rrrobot_src/src/simulation_drivers/src/simulation_env/src/arm_angle_sensor_plugin.cpp
new file mode 100644
index 0000000..3be777b
--- /dev/null
+++ b/rrrobot_src/src/simulation_drivers/src/simulation_env/src/arm_angle_sensor_plugin.cpp
@@ -0,0 +1,60 @@
+#include
+#include
+#include
+#include
+#include
+
+#include "ros/ros.h"
+
+using std::cout;
+using std::endl;
+
+namespace gazebo
+{
+ class JointAngle : public ModelPlugin
+ {
+ public:
+ void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
+ {
+ cout << "Loading model" << endl;
+
+ model = _parent;
+
+ updateConnection = event::Events::ConnectWorldUpdateBegin(std::bind(&JointAngle::onUpdate, this));
+ if(!ros::isInitialized())
+ {
+ int argc = 0;
+ char **argv = NULL;
+ ros::init(argc, argv, "arm");
+ }
+
+ nh.reset(new ros::NodeHandle("arm_node"));
+ publisher = nh->advertise("arm_positions", 1);
+ }
+
+ private:
+
+ void onUpdate()
+ {
+ //cout << __func__ << endl;
+ std_msgs::Float32 msg;
+ msg.data = 0.0f;
+ gazebo::physics::BasePtr joint = model->GetChild("shoulder_joint");
+ //cout << "Joint type: " << joint->GetType() << "joint type & EntityType::JOINT = " << (joint->GetType() & gazebo::physics::Base::EntityType::JOINT) << endl;
+ if((joint->GetType() & gazebo::physics::Base::EntityType::JOINT) != 0)
+ {
+ //cout << "Got an element of type JOINT" << endl;
+ //cout << "Joint Position: " << dynamic_cast(joint.get())->Position() << endl;
+ msg.data = dynamic_cast(joint.get())->Position();
+ //cout << "Position: " << msg.data << endl;
+ }
+ if(msg.data != 0.0f) publisher.publish(msg);
+ ros::spinOnce();
+ }
+ physics::ModelPtr model;
+ event::ConnectionPtr updateConnection;
+ std::unique_ptr nh;
+ ros::Publisher publisher;
+ };
+ GZ_REGISTER_MODEL_PLUGIN(JointAngle)
+}