Gonçalo, Sure, I'd love to try out your patch. I eventually want to add sonar to the robot as well, so this seems like it will be very helpful! Thanks, -Zac -- View this message in context: http://ros-users.122217.n3.nabble.com/Simulating-multiple-laser-scanners-in-Stage-tp2008197p2008399.html Sent from the ROS-Users mailing list archive at Nabble.com.