Gonçalo, I won't be able to test the code out until Monday. But your changes look similar to mine, but generalized. I will check it out and let you know how it goes. -Zac -- View this message in context: http://ros-users.122217.n3.nabble.com/Simulating-multiple-laser-scanners-in-Stage-tp2008197p2016296.html Sent from the ROS-Users mailing list archive at Nabble.com.