diff --git a/src/elephant_robotics/agv_pro_gazebo/CMakeLists.txt b/src/elephant_robotics/agv_pro_gazebo/CMakeLists.txt
index 3c89a58..50de585 100644
--- a/src/elephant_robotics/agv_pro_gazebo/CMakeLists.txt
+++ b/src/elephant_robotics/agv_pro_gazebo/CMakeLists.txt
@@ -14,7 +14,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-install(DIRECTORY meshes urdf launch rviz config
+install(DIRECTORY meshes urdf launch rviz config worlds
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/src/elephant_robotics/agv_pro_gazebo/config/agv_control copy.yaml b/src/elephant_robotics/agv_pro_gazebo/config/agv_control copy.yaml
deleted file mode 100644
index 5cd5e9b..0000000
--- a/src/elephant_robotics/agv_pro_gazebo/config/agv_control copy.yaml	
+++ /dev/null
@@ -1,23 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 100
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    diff_drive_controller:
-      type: diff_drive_controller/DiffDriveController
-      left_wheel_names: ["left_front_wheel_joint", "left_rear_wheel_joint"]
-      right_wheel_names: ["right_front_wheel_joint", "right_rear_wheel_joint"]
-
-      wheel_separation: 0.36
-      wheel_radius: 0.05
-
-      base_frame_id: base_link
-      use_stamped_vel: false
-      publish_rate: 50
-
-      enable_odom_tf: true
-      odom_frame_id: odom
-      pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
-      twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
\ No newline at end of file
diff --git a/src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml b/src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml
index 41c0814..867cc69 100644
--- a/src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml
+++ b/src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml
@@ -4,25 +4,36 @@ controller_manager:
     use_sim_time: true  # 使用仿真时间
 
     # 定义关节状态广播器
-    fishbot_joint_state_broadcaster:
+    joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
-      use_sim_time: true
 
-    # 定义全向驱动控制器
-    fishbot_omni_drive_controller:
-      type: omni_drive_controller/OmniDriveController
+    # 定义麦克纳姆轮驱动控制器
+    mecanum_drive_controller:
+      type: mecanum_drive_controller/MecanumDriveController
 
-# 四轮全向控制器配置
-fishbot_omni_drive_controller:
+# 麦克纳姆四轮驱动控制器配置
+mecanum_drive_controller:
   ros__parameters:
-    front_left_wheel_joint: front_left_wheel_joint
-    front_right_wheel_joint: front_right_wheel_joint
-    rear_left_wheel_joint: rear_left_wheel_joint
-    rear_right_wheel_joint: rear_right_wheel_joint
-    wheel_separation: 0.36  # 轮距
-    wheel_diameter: 0.1  # 轮子直径
-    publish_rate: 50.0  # 发布频率
-    odom_frame_id: odom
+    reference_timeout: 0.5
+
+    # 命令关节 (velocity command interface)
+    front_left_wheel_command_joint_name: left_front_wheel_joint
+    front_right_wheel_command_joint_name: right_front_wheel_joint
+    rear_left_wheel_command_joint_name: left_rear_wheel_joint
+    rear_right_wheel_command_joint_name: right_rear_wheel_joint
+
+    kinematics:
+      base_frame_offset:
+        x: 0.0
+        y: 0.0
+        theta: 0.0
+      wheels_radius: 0.05  # 轮子半径
+      # lx + ly : 底盘中心到轮子在 X 与 Y 方向投影之和
+      sum_of_robot_center_projection_on_X_Y_axis: 0.35
+
     base_frame_id: base_link
+    odom_frame_id: odom
+    enable_odom_tf: true
+
     pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
     twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
diff --git a/src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py b/src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
index 44e953e..e6c01f6 100644
--- a/src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
+++ b/src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
@@ -1,65 +1,145 @@
 import os
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import (
+    IncludeLaunchDescription,
+    DeclareLaunchArgument,
+    RegisterEventHandler,
+    TimerAction,
+)
+from launch.conditions import IfCondition
+from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command
+from launch.substitutions import Command, LaunchConfiguration, PythonExpression
 from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterValue
 from ament_index_python.packages import get_package_share_directory
 
-def generate_launch_description():
-    pkg_name = 'agv_pro_gazebo'
-    pkg_dir = get_package_share_directory(pkg_name)
-    xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
-    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
-    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
 
-    robot_description_content = ParameterValue(
-        Command(['xacro ', xacro_file]),
-        value_type=str
+def generate_launch_description():
+    pkg_gazebo = get_package_share_directory('agv_pro_gazebo')
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
+
+    xacro_file = os.path.join(pkg_gazebo, 'urdf', 'agv_pro.xacro')
+    world_file = os.path.join(pkg_gazebo, 'worlds', 'empty.world')
+    rviz_config = os.path.join(pkg_gazebo, 'rviz', 'agvpro_display.rviz')
+
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    use_rviz = LaunchConfiguration('use_rviz')
+    headless = LaunchConfiguration('headless')
+
+    robot_description = {
+        'robot_description': ParameterValue(
+            Command(['xacro ', xacro_file]), value_type=str
+        ),
+        'use_sim_time': use_sim_time,
+    }
+
+    # Start gz-sim (Gazebo Harmonic) with the world.
+    # '-s' (server only) is added when headless:=true.
+    gz_args = PythonExpression([
+        "'-r -v4 -s ' + ", repr(world_file),
+        " if '", headless, "' == 'true' ",
+        "else '-r -v4 ' + ", repr(world_file),
+    ])
+    gz_sim = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')
+        ),
+        launch_arguments={'gz_args': gz_args}.items(),
+    )
+
+    # Publish the robot description (also consumed by gz_ros2_control)
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[robot_description],
+    )
+
+    # Spawn the robot into gz-sim from the robot_description topic.
+    # Delayed so robot_state_publisher has latched /robot_description before the
+    # gz_ros2_control plugin (loaded on spawn) reads it — avoids a startup race
+    # where the in-sim controller_manager sees no <ros2_control> tag.
+    spawn_entity = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=['-topic', 'robot_description', '-name', 'agv_pro', '-z', '0.1'],
+        output='screen',
+    )
+    delayed_spawn = TimerAction(period=3.0, actions=[spawn_entity])
+
+    # Bridge the simulation clock so ROS nodes get /clock
+    clock_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
+        output='screen',
+    )
+
+    # Controllers (controller_manager runs inside the gz_ros2_control plugin)
+    joint_state_broadcaster_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'joint_state_broadcaster',
+            '--controller-manager', '/controller_manager',
+        ],
+        output='screen',
+    )
+
+    mecanum_drive_controller_spawner = Node(
+        package='controller_manager',
+        executable='spawner',
+        arguments=[
+            'mecanum_drive_controller',
+            '--controller-manager', '/controller_manager',
+        ],
+        output='screen',
+    )
+
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', rviz_config],
+        parameters=[{'use_sim_time': use_sim_time}],
+        condition=IfCondition(use_rviz),
+        output='screen',
     )
-    robot_description = {'robot_description': robot_description_content}
 
     return LaunchDescription([
-        # Launch Gazebo
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
-            ),
-            launch_arguments={'world': world_file}.items()
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='true',
+            description='Use the Gazebo simulation clock',
         ),
-
-        # Spawn robot into Gazebo
-        Node(
-            package='gazebo_ros',
-            executable='spawn_entity.py',
-            arguments=['-topic', 'robot_description',
-                       '-entity', 'agv_pro'],
-            output='screen'
+        DeclareLaunchArgument(
+            'use_rviz',
+            default_value='true',
+            description='Launch RViz2',
         ),
-
-        # State publisher
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            output='screen',
-            parameters=[robot_description]
+        DeclareLaunchArgument(
+            'headless',
+            default_value='false',
+            description='Run gz-sim without the GUI (server only)',
         ),
-
-        Node(
-            package='joint_state_publisher',
-            executable='joint_state_publisher',
-            name='joint_state_publisher',
-            output='screen',
+        gz_sim,
+        robot_state_publisher,
+        clock_bridge,
+        delayed_spawn,
+        # Load controllers only after the robot has been spawned
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=spawn_entity,
+                on_exit=[joint_state_broadcaster_spawner],
+            )
         ),
-
-        # Optional: RViz
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            output='screen',
-            arguments=['-d', rviz_config],
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=joint_state_broadcaster_spawner,
+                on_exit=[mecanum_drive_controller_spawner],
+            )
         ),
+        rviz,
     ])
diff --git a/src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launchcopy.py b/src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launchcopy.py
deleted file mode 100644
index 8d85560..0000000
--- a/src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launchcopy.py
+++ /dev/null
@@ -1,71 +0,0 @@
-import os
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, ExecuteProcess
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-
-def generate_launch_description():
-    pkg_name = 'agv_pro_description'
-
-    # Paths
-    pkg_dir = get_package_share_directory(pkg_name)
-    xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
-    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')  # 创建一个空 world 即可
-    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
-
-    robot_description_content = Command(['xacro ', xacro_file])
-    robot_description = {'robot_description': robot_description_content}
-
-    return LaunchDescription([
-
-        # Start Gazebo with empty world
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                [os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]
-            ),
-            launch_arguments={'world': world_file}.items()
-        ),
-
-        # Spawn robot into Gazebo
-        Node(
-            package='gazebo_ros',
-            executable='spawn_entity.py',
-            arguments=['-topic', 'robot_description',
-                       '-entity', 'agv_pro'],
-            output='screen'
-        ),
-
-        # Robot state publisher
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            output='screen',
-            parameters=[robot_description]
-        ),
-
-        # Optionally publish joint states if not using controllers
-        Node(
-            package='joint_state_publisher',
-            executable='joint_state_publisher',
-            name='joint_state_publisher',
-            output='screen',
-        ),
-        Node(
-            package='controller_manager',
-            executable='spawner',
-            arguments=['joint_state_broadcaster'],
-            output='screen',
-        ),
-
-        # RViz (optional, visualize TF & model)
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            output='screen',
-            arguments=['-d', rviz_config],
-        ),
-    ]) 
\ No newline at end of file
diff --git a/src/elephant_robotics/agv_pro_gazebo/launch/teleop_launch.py b/src/elephant_robotics/agv_pro_gazebo/launch/teleop_launch.py
index e18c7c5..7df0262 100644
--- a/src/elephant_robotics/agv_pro_gazebo/launch/teleop_launch.py
+++ b/src/elephant_robotics/agv_pro_gazebo/launch/teleop_launch.py
@@ -2,6 +2,7 @@ import os
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
     return LaunchDescription([
         Node(
@@ -10,8 +11,14 @@ def generate_launch_description():
             name='teleop_keyboard',
             output='screen',
             prefix='xterm -e',  # 或 'gnome-terminal --' 替换为你的终端命令
+            # mecanum_drive_controller expects a stamped reference; teleop must
+            # publish geometry_msgs/TwistStamped with a fresh timestamp.
+            parameters=[{
+                'stamped': True,
+                'frame_id': 'base_link',
+            }],
             remappings=[
-                ('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
+                ('/cmd_vel', '/mecanum_drive_controller/reference'),
             ]
         )
     ])
diff --git a/src/elephant_robotics/agv_pro_gazebo/package.xml b/src/elephant_robotics/agv_pro_gazebo/package.xml
index d284abc..70c0819 100644
--- a/src/elephant_robotics/agv_pro_gazebo/package.xml
+++ b/src/elephant_robotics/agv_pro_gazebo/package.xml
@@ -12,8 +12,12 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>xacro</buildtool_depend>
   
-  <!-- Build dependencies -->
-  <depend>gazebo_ros_pkgs</depend>
+  <!-- Runtime dependencies -->
+  <!-- Gazebo (gz-sim Harmonic) integration for ROS 2 Jazzy -->
+  <exec_depend>ros_gz_sim</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <depend>gz_ros2_control</depend>
+
   <depend>robot_state_publisher</depend>
   <depend>joint_state_publisher</depend>
   <depend>geometry_msgs</depend>
@@ -24,9 +28,8 @@
   <depend>ros2_control</depend>
   <depend>controller_manager</depend>
   <depend>joint_state_broadcaster</depend>
-  <depend>diff_drive_controller</depend>
+  <depend>mecanum_drive_controller</depend>
   <depend>teleop_twist_keyboard</depend>
-  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro copy.xacro b/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro copy.xacro
deleted file mode 100644
index 399d262..0000000
--- a/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro copy.xacro	
+++ /dev/null
@@ -1,123 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
-
-  <!-- Gazebo-specific properties -->
-  <xacro:property name="wheel_damping" value="0.1"/>
-  <xacro:property name="wheel_axis" value="0 1 0"/>
-
-  <!-- Base footprint -->
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link" />
-    <origin xyz="0 0 0.020" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <inertial>
-      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
-      <mass value="19.236" />
-      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- Gazebo plugin for control -->
-  <gazebo>
-    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
-  </gazebo>
-
-  <gazebo reference="base_link">
-    <material>Gazebo/White</material>
-    <mu1>1.0</mu1>
-    <mu2>1.0</mu2>
-    <kp>100000.0</kp>
-    <kd>1.0</kd>
-  </gazebo>
-
-  <!-- Include wheel macros -->
-  <xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
-  <xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
-  <!-- Add all four wheels using macro -->
-  <xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-
-  <xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-
-  <xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
-
-  <xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
-
-  <!-- Lidar -->
-  <link name="laser_link">
-    <inertial>
-      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
-      <mass value="0.049095" />
-      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
-      </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="lidar_joint" type="fixed">
-    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
-    <parent link="base_link" />
-    <child link="laser_link" />
-  </joint>
-
-  <!-- ros2_control tag -->
-  <ros2_control name="AGVHardware" type="system">
-    <hardware>
-      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-    </hardware>
-
-    <joint name="right_rear_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="right_front_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="left_front_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-    <joint name="left_rear_wheel_joint">
-      <command_interface name="velocity"/>
-      <state_interface name="position"/>
-      <state_interface name="velocity"/>
-    </joint>
-  </ros2_control>
-
-</robot>
\ No newline at end of file
diff --git a/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro.xacro b/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro.xacro
index 4f03099..e72d45e 100644
--- a/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro.xacro
+++ b/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro.xacro
@@ -85,8 +85,6 @@
   </joint>
 
   <!-- Include ros2_controller.xacro to define controllers -->
-  <xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/gazebo_control_plugin.xacro"/>
   <xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
   <xacro:ros2_controller/>
-  <xacro:gazebo_control_plugin/>
 </robot>
diff --git a/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro1.xacro b/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro1.xacro
deleted file mode 100644
index eac1eed..0000000
--- a/src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro1.xacro
+++ /dev/null
@@ -1,144 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
-
-  <xacro:property name="wheel_axis" value="0 1 0"/>
-  <xacro:property name="wheel_damping" value="0.1"/>
-
-  <!-- Macro: wheel with Gazebo plugin -->
-  <xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
-    <link name="${name}_link">
-      <inertial>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <mass value="${mass}" />
-        <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
-      </inertial>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="${mesh}" />
-        </geometry>
-        <material name=""><color rgba="1 1 1 1"/></material>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <mesh filename="${mesh}" />
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${name}_joint" type="continuous">
-      <origin xyz="${origin_xyz}" rpy="${origin_rpy}"/>
-      <parent link="base_link"/>
-      <child link="${name}_link"/>
-      <axis xyz="${wheel_axis}"/>
-      <dynamics damping="${wheel_damping}"/>
-    </joint>
-
-    <transmission name="${name}_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <actuator name="${name}_motor">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-      <joint name="${name}_joint">
-        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
-      </joint>
-    </transmission>
-
-    <gazebo reference="${name}_link">
-      <mu1>0.8</mu1>
-      <mu2>0.8</mu2>
-      <kp>100000.0</kp>
-      <kd>1.0</kd>
-      <material>Gazebo/Grey</material>
-    </gazebo>
-  </xacro:macro>
-
-  <!-- Base links -->
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin xyz="0 0 0.020" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <inertial>
-      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
-      <mass value="19.236" />
-      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
-               iyy="0.24191" iyz="0.0044629" izz="0.33755"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- Gazebo plugin for ros2_control -->
-  <gazebo>
-    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
-  </gazebo>
-
-  <!-- Wheels -->
-  <xacro:wheel name="right_rear_wheel"
-               mesh="package://agv_pro_description/meshes/wheel_rb_link.stl"
-               origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0"
-               mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
-               iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-
-  <xacro:wheel name="right_front_wheel"
-               mesh="package://agv_pro_description/meshes/wheel_rf_link.stl"
-               origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0"
-               mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
-               iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
-
-  <xacro:wheel name="left_front_wheel"
-               mesh="package://agv_pro_description/meshes/wheel_lf_link.stl"
-               origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0"
-               mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
-               iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
-
-  <xacro:wheel name="left_rear_wheel"
-               mesh="package://agv_pro_description/meshes/wheel_lb_link.stl"
-               origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0"
-               mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
-               iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
-
-  <!-- Lidar -->
-  <link name="laser_link">
-    <inertial>
-      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0"/>
-      <mass value="0.049095"/>
-      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07"
-               iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05"/>
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <joint name="lidar_joint" type="fixed">
-    <origin xyz="0.17891 0 0.20928" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="laser_link"/>
-  </joint>
-
-</robot>
diff --git a/src/elephant_robotics/agv_pro_gazebo/urdf/parts/wheel_macro.xacro b/src/elephant_robotics/agv_pro_gazebo/urdf/parts/wheel_macro.xacro
index 2343129..a5559dd 100644
--- a/src/elephant_robotics/agv_pro_gazebo/urdf/parts/wheel_macro.xacro
+++ b/src/elephant_robotics/agv_pro_gazebo/urdf/parts/wheel_macro.xacro
@@ -51,7 +51,13 @@
       <mu2>0.8</mu2>
       <kp>100000.0</kp>
       <kd>1.0</kd>
-      <material>Gazebo/Black</material>
+      <visual>
+        <material>
+          <ambient>0.1 0.1 0.1 1</ambient>
+          <diffuse>0.1 0.1 0.1 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+        </material>
+      </visual>
     </gazebo>
 
   </xacro:macro>
diff --git a/src/elephant_robotics/agv_pro_gazebo/urdf/ros2_controller.xacro b/src/elephant_robotics/agv_pro_gazebo/urdf/ros2_controller.xacro
index eb33690..553763b 100644
--- a/src/elephant_robotics/agv_pro_gazebo/urdf/ros2_controller.xacro
+++ b/src/elephant_robotics/agv_pro_gazebo/urdf/ros2_controller.xacro
@@ -1,55 +1,42 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <xacro:macro name="ros2_controller">
-        <ros2_control name="FishBotGazeboSystem" type="system">
+        <!-- ros2_control hardware description for gz-sim (Gazebo Harmonic) -->
+        <ros2_control name="GazeboSimSystem" type="system">
             <hardware>
-                <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+                <plugin>gz_ros2_control/GazeboSimSystem</plugin>
             </hardware>
-            
-            <!-- 配置所有轮子的控制接口 -->
-            <joint name="front_left_wheel_joint">
-                <command_interface name="position" />
-                <command_interface name="velocity" />
-                <command_interface name="effort" />
-                <state_interface name="position" />
-                <state_interface name="velocity" />
-                <state_interface name="effort" />
+
+            <joint name="left_front_wheel_joint">
+                <command_interface name="velocity"/>
+                <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
 
-            <joint name="front_right_wheel_joint">
-                <command_interface name="position" />
-                <command_interface name="velocity" />
-                <command_interface name="effort" />
-                <state_interface name="position" />
-                <state_interface name="velocity" />
-                <state_interface name="effort" />
+            <joint name="right_front_wheel_joint">
+                <command_interface name="velocity"/>
+                <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
 
-            <joint name="rear_left_wheel_joint">
-                <command_interface name="position" />
-                <command_interface name="velocity" />
-                <command_interface name="effort" />
-                <state_interface name="position" />
-                <state_interface name="velocity" />
-                <state_interface name="effort" />
+            <joint name="left_rear_wheel_joint">
+                <command_interface name="velocity"/>
+                <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
 
-            <joint name="rear_right_wheel_joint">
-                <command_interface name="position" />
-                <command_interface name="velocity" />
-                <command_interface name="effort" />
-                <state_interface name="position" />
-                <state_interface name="velocity" />
-                <state_interface name="effort" />
+            <joint name="right_rear_wheel_joint">
+                <command_interface name="velocity"/>
+                <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
         </ros2_control>
+
+        <!-- gz_ros2_control system plugin: hosts the controller_manager inside gz-sim -->
         <gazebo>
-            <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+            <plugin filename="gz_ros2_control-system"
+                    name="gz_ros2_control::GazeboSimROS2ControlPlugin">
                 <parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
-                <ros>
-                    <remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
-                    <remapping>/omni_drive_controller/odom:=/odom</remapping>
-                </ros>
             </plugin>
         </gazebo>
     </xacro:macro>
diff --git a/src/elephant_robotics/agv_pro_gazebo/worlds/empty.world b/src/elephant_robotics/agv_pro_gazebo/worlds/empty.world
index a36bb5e..51b5afe 100644
--- a/src/elephant_robotics/agv_pro_gazebo/worlds/empty.world
+++ b/src/elephant_robotics/agv_pro_gazebo/worlds/empty.world
@@ -1,11 +1,69 @@
 <?xml version="1.0" ?>
-<sdf version="1.6">
+<sdf version="1.10">
   <world name="empty_world">
-    <include>
-      <uri>model://ground_plane</uri>
-    </include>
-    <include>
-      <uri>model://sun</uri>
-    </include>
+
+    <!-- Required gz-sim (Gazebo Harmonic) system plugins -->
+    <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 name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <!-- Sun -->
+    <light type="directional" name="sun">
+      <cast_shadows>true</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>
+
+    <!-- Ground plane -->
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
   </world>
 </sdf>
\ No newline at end of file