diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
index 9e34f499..4fdd825e 100755
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -427,19 +427,19 @@ def main(args=None):
 
         carla_world = carla_client.get_world()
 
-        if "town" in parameters and not parameters['passive']:
-            if parameters["town"].endswith(".xodr"):
-                carla_bridge.loginfo(
-                    "Loading opendrive world from file '{}'".format(parameters["town"]))
-                with open(parameters["town"]) as od_file:
-                    data = od_file.read()
-                carla_world = carla_client.generate_opendrive_world(str(data))
-            else:
-                if carla_world.get_map().name != parameters["town"]:
-                    carla_bridge.loginfo("Loading town '{}' (previous: '{}').".format(
-                        parameters["town"], carla_world.get_map().name))
-                    carla_world = carla_client.load_world(parameters["town"])
-            carla_world.tick()
+#        if "town" in parameters and not parameters['passive']:
+#            if parameters["town"].endswith(".xodr"):
+#                carla_bridge.loginfo(
+#                    "Loading opendrive world from file '{}'".format(parameters["town"]))
+#                with open(parameters["town"]) as od_file:
+#                    data = od_file.read()
+#                carla_world = carla_client.generate_opendrive_world(str(data))
+#            else:
+#                if carla_world.get_map().name != parameters["town"]:
+#                    carla_bridge.loginfo("Loading town '{}' (previous: '{}').".format(
+#                        parameters["town"], carla_world.get_map().name))
+#                    carla_world = carla_client.load_world(parameters["town"])
+#            carla_world.tick()
 
         carla_bridge.initialize_bridge(carla_client.get_world(), parameters)
 
diff --git a/carla_spawn_objects/config/objects.json b/carla_spawn_objects/config/objects.json
index daba209d..aaba5818 100644
--- a/carla_spawn_objects/config/objects.json
+++ b/carla_spawn_objects/config/objects.json
@@ -52,65 +52,15 @@
                 {
                     "type": "sensor.lidar.ray_cast",
                     "id": "lidar",
-                    "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
                     "range": 50,
-                    "channels": 32,
-                    "points_per_second": 320000,
+                    "channels": 128,
+                    "points_per_second": 281600,
                     "upper_fov": 2.0,
                     "lower_fov": -26.8,
                     "rotation_frequency": 20,
                     "noise_stddev": 0.0
                 },
-                {
-                    "type": "sensor.lidar.ray_cast_semantic",
-                    "id": "semantic_lidar",
-                    "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
-                    "range": 50,
-                    "channels": 32,
-                    "points_per_second": 320000,
-                    "upper_fov": 2.0,
-                    "lower_fov": -26.8,
-                    "rotation_frequency": 20
-                },
-                {
-                    "type": "sensor.other.radar",
-                    "id": "radar_front",
-                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
-                    "horizontal_fov": 30.0,
-                    "vertical_fov": 10.0,
-                    "points_per_second": 1500,
-                    "range": 100.0
-                },
-                {
-                    "type": "sensor.camera.semantic_segmentation",
-                    "id": "semantic_segmentation_front",
-                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
-                    "fov": 90.0,
-                    "image_size_x": 400,
-                    "image_size_y": 70
-                },
-                {
-                    "type": "sensor.camera.depth",
-                    "id": "depth_front",
-                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
-                    "fov": 90.0,
-                    "image_size_x": 400,
-                    "image_size_y": 70
-                },
-                {
-                    "type": "sensor.camera.dvs",
-                    "id": "dvs_front",
-                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
-                    "fov": 90.0,
-                    "image_size_x": 400,
-                    "image_size_y": 70,
-                    "positive_threshold": 0.3,
-                    "negative_threshold": 0.3,
-                    "sigma_positive_threshold": 0.0,
-                    "sigma_negative_threshold": 0.0,
-                    "use_log": true,
-                    "log_eps": 0.001
-                },
                 {
                     "type": "sensor.other.gnss",
                     "id": "gnss",
@@ -136,7 +86,7 @@
                     "id": "lane_invasion",
                     "spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0}
                 },
-                {
+		{
                     "type": "sensor.pseudo.tf",
                     "id": "tf"
                 },
diff --git a/carla_spawn_objects/config/objects.json.bak b/carla_spawn_objects/config/objects.json.bak
new file mode 100644
index 00000000..daba209d
--- /dev/null
+++ b/carla_spawn_objects/config/objects.json.bak
@@ -0,0 +1,162 @@
+{   
+    "objects": 
+    [
+        {
+            "type": "sensor.pseudo.traffic_lights",
+            "id": "traffic_lights"
+        },
+        {
+            "type": "sensor.pseudo.objects",
+            "id": "objects"
+        },
+        {
+            "type": "sensor.pseudo.actor_list",
+            "id": "actor_list"
+        },
+        {
+            "type": "sensor.pseudo.markers",
+            "id": "markers"
+        },
+        {
+            "type": "sensor.pseudo.opendrive_map",
+            "id": "map"
+        },
+        {
+            "type": "vehicle.tesla.model3",
+            "id": "ego_vehicle",
+            "sensors": 
+            [
+                {
+                    "type": "sensor.camera.rgb",
+                    "id": "rgb_front",
+                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "image_size_x": 800,
+                    "image_size_y": 600,
+                    "fov": 90.0
+                },
+                {
+                    "type": "sensor.camera.rgb",
+                    "id": "rgb_view",
+                    "spawn_point": {"x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": 20.0, "yaw": 0.0},
+                    "image_size_x": 800,
+                    "image_size_y": 600,
+                    "fov": 90.0,
+                    "attached_objects":
+                    [
+                        {
+                            "type": "actor.pseudo.control",
+                            "id": "control"
+                        }
+                    ]
+                },
+                {
+                    "type": "sensor.lidar.ray_cast",
+                    "id": "lidar",
+                    "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "range": 50,
+                    "channels": 32,
+                    "points_per_second": 320000,
+                    "upper_fov": 2.0,
+                    "lower_fov": -26.8,
+                    "rotation_frequency": 20,
+                    "noise_stddev": 0.0
+                },
+                {
+                    "type": "sensor.lidar.ray_cast_semantic",
+                    "id": "semantic_lidar",
+                    "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "range": 50,
+                    "channels": 32,
+                    "points_per_second": 320000,
+                    "upper_fov": 2.0,
+                    "lower_fov": -26.8,
+                    "rotation_frequency": 20
+                },
+                {
+                    "type": "sensor.other.radar",
+                    "id": "radar_front",
+                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "horizontal_fov": 30.0,
+                    "vertical_fov": 10.0,
+                    "points_per_second": 1500,
+                    "range": 100.0
+                },
+                {
+                    "type": "sensor.camera.semantic_segmentation",
+                    "id": "semantic_segmentation_front",
+                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "fov": 90.0,
+                    "image_size_x": 400,
+                    "image_size_y": 70
+                },
+                {
+                    "type": "sensor.camera.depth",
+                    "id": "depth_front",
+                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "fov": 90.0,
+                    "image_size_x": 400,
+                    "image_size_y": 70
+                },
+                {
+                    "type": "sensor.camera.dvs",
+                    "id": "dvs_front",
+                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "fov": 90.0,
+                    "image_size_x": 400,
+                    "image_size_y": 70,
+                    "positive_threshold": 0.3,
+                    "negative_threshold": 0.3,
+                    "sigma_positive_threshold": 0.0,
+                    "sigma_negative_threshold": 0.0,
+                    "use_log": true,
+                    "log_eps": 0.001
+                },
+                {
+                    "type": "sensor.other.gnss",
+                    "id": "gnss",
+                    "spawn_point": {"x": 1.0, "y": 0.0, "z": 2.0},
+                    "noise_alt_stddev": 0.0, "noise_lat_stddev": 0.0, "noise_lon_stddev": 0.0,
+                    "noise_alt_bias": 0.0, "noise_lat_bias": 0.0, "noise_lon_bias": 0.0
+                },
+                {
+                    "type": "sensor.other.imu",
+                    "id": "imu",
+                    "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
+                    "noise_accel_stddev_x": 0.0, "noise_accel_stddev_y": 0.0, "noise_accel_stddev_z": 0.0,
+                    "noise_gyro_stddev_x": 0.0, "noise_gyro_stddev_y": 0.0, "noise_gyro_stddev_z": 0.0,
+                    "noise_gyro_bias_x": 0.0, "noise_gyro_bias_y": 0.0, "noise_gyro_bias_z": 0.0
+                },
+                {
+                    "type": "sensor.other.collision",
+                    "id": "collision",
+                    "spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0}
+                },
+                {
+                    "type": "sensor.other.lane_invasion",
+                    "id": "lane_invasion",
+                    "spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0}
+                },
+                {
+                    "type": "sensor.pseudo.tf",
+                    "id": "tf"
+                },
+                {
+                    "type": "sensor.pseudo.objects",
+                    "id": "objects"
+                },
+                {
+                    "type": "sensor.pseudo.odom",
+                    "id": "odometry"
+                },
+                {
+                    "type": "sensor.pseudo.speedometer",
+                    "id": "speedometer"
+                },
+                {
+                    "type": "actor.pseudo.control",
+                    "id": "control"
+                }
+            ]
+        }
+    ]
+}
diff --git a/carla_spawn_objects/launch/carla_example_ego_vehicle.launch.py b/carla_spawn_objects/launch/carla_example_ego_vehicle.launch.py
index ee24a672..cb948335 100644
--- a/carla_spawn_objects/launch/carla_example_ego_vehicle.launch.py
+++ b/carla_spawn_objects/launch/carla_example_ego_vehicle.launch.py
@@ -38,16 +38,16 @@ def generate_launch_description():
                 'spawn_sensors_only': launch.substitutions.LaunchConfiguration('spawn_sensors_only')
             }.items()
         ),
-        launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
-                os.path.join(get_package_share_directory(
-                    'carla_spawn_objects'), 'set_initial_pose.launch.py')
-            ),
-            launch_arguments={
-                'role_name': launch.substitutions.LaunchConfiguration('role_name'),
-                'control_id': launch.substitutions.LaunchConfiguration('control_id')
-            }.items()
-        )
+#        launch.actions.IncludeLaunchDescription(
+#            launch.launch_description_sources.PythonLaunchDescriptionSource(
+#                os.path.join(get_package_share_directory(
+#                    'carla_spawn_objects'), 'set_initial_pose.launch.py')
+#            ),
+#            launch_arguments={
+#                'role_name': launch.substitutions.LaunchConfiguration('role_name'),
+#                'control_id': launch.substitutions.LaunchConfiguration('control_id')
+#            }.items()
+#        )
     ])
     return ld