diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
index db10e4ad901..55c628d0caf 100644
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
+++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(vehicle_gazebo_simulation_launcher)
 
 find_package(catkin REQUIRED
-  controller_manager
   controller_manager
   robot_state_publisher
   joint_state_controller
@@ -17,4 +16,5 @@ catkin_package(
 install(DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY scripts
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS)
diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh
index 65f50a82445..4b5d0354305 100755
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh
+++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh
@@ -1,25 +1,22 @@
 #!/bin/sh
 
 mkdir -p ~/.gazebo/models
-echo "Download generic gazebo models"
+echo "---- Download generic gazebo models ----"
 if [ -e /tmp/gazebo_models ]; then
-  echo "Already exist /tmp/gazebo_models"
-  echo "removing /tmp/gazebo_models"
+  echo "---- Already exist /tmp/gazebo_models ----"
+  echo "---- removing /tmp/gazebo_models ----"
   rm -r /tmp/gazebo_models
 fi
 hg clone https://bitbucket.org/osrf/gazebo_models /tmp/gazebo_models
 
 if [ -e /tmp/gazebo_models ]; then
-  echo "Install generic gazebo models"
+  echo "---- Install generic gazebo models ----"
   mv -n /tmp/gazebo_models/* ~/.gazebo/models/
-  echo "Completed"
+  echo "---- Completed ----"
 else
-  echo "Error"
+  echo "---- Error ----"
 fi
 
-echo "Install osrf_citysim models"
-SCRIPT_DIR=$(cd $(dirname $0); pwd)
-cp -rn $SCRIPT_DIR/../../../worlds/external/osrf_citysim/models/* ~/.gazebo/models/
-
-echo "Install car_demo models"
-cp -rn $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/models/* ~/.gazebo/models/
+echo "---- Install models ----"
+cp -rn $(rospack find gazebo_world_description)/models/* ~/.gazebo/models/
+echo "---- Completed ----"
diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh
deleted file mode 100755
index f2a75ec7969..00000000000
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/sh
-
-SCRIPT_DIR=$(cd $(dirname $0); pwd)
-echo "Copy world file to gazebo_world_description"
-cp -n $SCRIPT_DIR/../../../worlds/external/osrf_citysim/worlds/citysim_gazebo7.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
-cp -n $SCRIPT_DIR/../../../worlds/external/osrf_citysim/worlds/citysim_gazebo9.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
-cp -n $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/worlds/mcity.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
-cp -n $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/worlds/mcity_r1.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh
index 93db79d1371..f890a01323a 100755
--- a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh
+++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh
@@ -1,6 +1,4 @@
 #!/bin/sh
 
-SCRIPT_DIR=$(cd $(dirname $0); pwd)
-$SCRIPT_DIR/download_model.sh
-$SCRIPT_DIR/upgrade_gazebo_stable_version.sh
-$SCRIPT_DIR/integrate_world_files.sh
\ No newline at end of file
+rosrun vehicle_gazebo_simulation_launcher download_model.sh
+rosrun vehicle_gazebo_simulation_launcher upgrade_gazebo_stable_version.sh
diff --git a/ros/src/simulation/gazebo_simulator/worlds/external/car_demo b/ros/src/simulation/gazebo_simulator/worlds/external/car_demo
index 94cb2492f62..e364448fad4 160000
--- a/ros/src/simulation/gazebo_simulator/worlds/external/car_demo
+++ b/ros/src/simulation/gazebo_simulator/worlds/external/car_demo
@@ -1 +1 @@
-Subproject commit 94cb2492f627919eb2c82085fcb52061354a59e3
+Subproject commit e364448fad421cb6244c9f828f978d8d877dcbf9
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
index 2606b4b688a..6c200d435bb 100644
--- a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt
@@ -5,5 +5,14 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY worlds
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(CODE "execute_process( \
+  COMMAND  cp -rL \
+  ${CMAKE_CURRENT_SOURCE_DIR}/worlds/ \
+  ${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/)"
+)
+
+install(CODE "execute_process( \
+  COMMAND  cp -rL \
+  ${CMAKE_CURRENT_SOURCE_DIR}/models/ \
+  ${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/)"
+)
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/construction_cone b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/construction_cone
new file mode 120000
index 00000000000..17345d2b453
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/construction_cone
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/construction_cone
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/dumpster b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/dumpster
new file mode 120000
index 00000000000..5db4eb6439e
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/dumpster
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/dumpster
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/gas_station b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/gas_station
new file mode 120000
index 00000000000..79bcebaf934
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/gas_station
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/gas_station
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/grey_wall b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/grey_wall
new file mode 120000
index 00000000000..d29a5852162
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/grey_wall
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/grey_wall
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_1 b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_1
new file mode 120000
index 00000000000..feb410627c1
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_1
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/house_1
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_2 b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_2
new file mode 120000
index 00000000000..e08dddc86ed
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_2
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/house_2
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_3 b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_3
new file mode 120000
index 00000000000..4979c1d577b
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/house_3
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/house_3
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/jersey_barrier b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/jersey_barrier
new file mode 120000
index 00000000000..feb9771e41a
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/jersey_barrier
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/jersey_barrier
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/mcity b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/mcity
new file mode 120000
index 00000000000..7075b969f7a
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/mcity
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/mcity
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/ocean b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/ocean
new file mode 120000
index 00000000000..d57f0a78ee8
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/ocean
@@ -0,0 +1 @@
+../../external/osrf_citysim/models/ocean
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/powerplant b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/powerplant
new file mode 120000
index 00000000000..15a8dfb37b1
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/powerplant
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/powerplant
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/speed_limit_sign b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/speed_limit_sign
new file mode 120000
index 00000000000..cc8966a771d
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/models/speed_limit_sign
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/models/speed_limit_sign
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore
deleted file mode 100644
index 3d919bfc9ff..00000000000
--- a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.world
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo7.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo7.world
new file mode 120000
index 00000000000..3ca1bf46136
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo7.world
@@ -0,0 +1 @@
+../../external/osrf_citysim/worlds/citysim_gazebo7.world
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo9.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo9.world
new file mode 120000
index 00000000000..35aff52f5ff
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/citysim_gazebo9.world
@@ -0,0 +1 @@
+../../external/osrf_citysim/worlds/citysim_gazebo9.world
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity.world
new file mode 120000
index 00000000000..f03ad40914f
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity.world
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/worlds/mcity.world
\ No newline at end of file
diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity_r1.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity_r1.world
new file mode 120000
index 00000000000..dc5354efb6e
--- /dev/null
+++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/mcity_r1.world
@@ -0,0 +1 @@
+../../external/car_demo/car_demo/worlds/mcity_r1.world
\ No newline at end of file
diff --git a/ros/src/util/packages/runtime_manager/CMakeLists.txt b/ros/src/util/packages/runtime_manager/CMakeLists.txt
index 9b1cf8e3e15..33d479a86ef 100644
--- a/ros/src/util/packages/runtime_manager/CMakeLists.txt
+++ b/ros/src/util/packages/runtime_manager/CMakeLists.txt
@@ -18,7 +18,7 @@ catkin_install_python(PROGRAMS
         scripts/test_srv.py
         DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(FILES
+install(PROGRAMS
         scripts/3dm_gx5_15.sh
         scripts/add_perm.sh
         scripts/adis16470.sh
@@ -26,7 +26,9 @@ install(FILES
         scripts/gazebo.sh
         scripts/mti300.sh
         scripts/vg440.sh
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
 
+install(FILES
         scripts/computing.yaml
         scripts/data.yaml
         scripts/empty.yaml