Gonçalo, I've tested out your new_stage package with your world file as well as mine, it seems to work properly. Great work! If you release a new patch please let me know, I will patch my version of stage with it as well. Thanks, -Zac -- View this message in context: http://ros-users.122217.n3.nabble.com/Simulating-multiple-laser-scanners-in-Stage-tp2008197p2028640.html Sent from the ROS-Users mailing list archive at Nabble.com.