diff --git a/src/environments/environments/CarWallEnvironment.py b/src/environments/environments/CarWallEnvironment.py
index 81a62244..d2336654 100644
--- a/src/environments/environments/CarWallEnvironment.py
+++ b/src/environments/environments/CarWallEnvironment.py
@@ -90,13 +90,16 @@ def __init__(self, car_name, reward_range=0.2, max_steps=50, collision_range=0.2
         while not self.reset_client.wait_for_service(timeout_sec=1.0):
             self.get_logger().info('reset service not available, waiting again...')
 
-        time.sleep(2)
-
-        # TODO: generate goal
         self.goal_position = [10, 10] # x and y
 
-        time.sleep(5)
-        
+        self.timer = self.create_timer(step_length, self.timer_cb)
+        self.timer_future = Future()
+
+        self.get_logger().info('Environment Setup Complete')
+    
+    def timer_cb(self):
+        self.timer_future.set_result(True)
+
     def reset(self):
         self.step_counter = 0
 
@@ -105,11 +108,12 @@ def reset(self):
         #TODO: Remove Hard coded-ness of 10x10
         self.goal_position = self.generate_goal()
 
-        time.sleep(self.STEP_LENGTH)
+        while not self.timer_future.done():
+            rclpy.spin_once(self)
+        
+        self.timer_future = Future()
 
         self.call_reset_service()
-
-        time.sleep(self.STEP_LENGTH)
         
         observation = self.get_observation()
         
@@ -136,7 +140,10 @@ def step(self, action):
         lin_vel, ang_vel = action
         self.set_velocity(lin_vel, ang_vel)
 
-        time.sleep(self.STEP_LENGTH)
+        while not self.timer_future.done():
+            rclpy.spin_once(self)
+
+        self.timer_future = Future()
         
         next_state = self.get_observation()
         reward = self.compute_reward(state, next_state)
diff --git a/src/environments/launch/carwall.launch.py b/src/environments/launch/carwall.launch.py
index cd3391e1..3de0ddc3 100644
--- a/src/environments/launch/carwall.launch.py
+++ b/src/environments/launch/carwall.launch.py
@@ -18,7 +18,11 @@ def generate_launch_description():
             f'/world/empty/create@ros_gz_interfaces/srv/SpawnEntity',
             f'/world/empty/remove@ros_gz_interfaces/srv/DeleteEntity',
             f'/world/empty/set_pose@ros_gz_interfaces/srv/SetEntityPose',
-        ]
+            f'/world/empty/clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock'
+        ],
+        remappings=[
+            (f'/world/empty/clock', f'/clock'),
+        ],
     )
 
     gz_sim = IncludeLaunchDescription(
diff --git a/src/f1tenth b/src/f1tenth
index 012327dc..c5eba9a4 160000
--- a/src/f1tenth
+++ b/src/f1tenth
@@ -1 +1 @@
-Subproject commit 012327dca3e647f4791f7f8545b5f69fdafe98d8
+Subproject commit c5eba9a4cf0e5ccd3fbf01d10a4656d200167ecc
diff --git a/src/reinforcement_learning/launch/car_wall.launch.py b/src/reinforcement_learning/launch/car_wall.launch.py
index f06a6b72..3e65d746 100644
--- a/src/reinforcement_learning/launch/car_wall.launch.py
+++ b/src/reinforcement_learning/launch/car_wall.launch.py
@@ -1,6 +1,6 @@
 import os
 from ament_index_python import get_package_share_directory
-from launch_ros.actions import Node 
+from launch_ros.actions import Node, SetParameter
 from launch import LaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
@@ -47,6 +47,7 @@ def generate_launch_description():
     return LaunchDescription([
         #TODO: Find a way to remove this
         SetEnvironmentVariable(name='GZ_SIM_RESOURCE_PATH', value=pkg_f1tenth_description[:-19]),
+        SetParameter(name='use_sim_time', value=True),
         environment,
         f1tenth,
         main