diff --git a/README.md b/README.md
index 56ce6bc..6710477 100644
--- a/README.md
+++ b/README.md
@@ -37,19 +37,18 @@ echo 'export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gaze
 source ~/.bashrc
 ```
 
-1.   每个终端都要按照3.2.1前置准备操作
-2.   启动仿真， Nav2导航栈， AMCL节点，rviz
+   启动仿真， Nav2导航栈， AMCL节点，rviz
 ```bash
 ./gzsim_run.sh
- 
-ros2 launch nav2_bringup navigation_launch.py \
-    use_sim_time:=True \
-    params_file:=$HOME/ros_ws/src/vlm-semantic-nav2/TurtleBot-RRT-Star/nav2_params.yaml \
-    map:=$NAV2_MAP_PATH
- 
+
 ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
     use_sim_time:=true \
     map:=$NAV2_MAP_PATH
+
+ros2 launch nav2_bringup navigation_launch.py \
+    use_sim_time:=True \
+    params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml \
+    map:=$NAV2_MAP_PATH
  
 ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
 ```
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml b/src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
index 7727668..bb49409 100644
--- a/src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml
@@ -23,33 +23,6 @@
   gz_type_name: gz.msgs.LaserScan
   direction: GZ_TO_ROS
 
-- ros_topic_name: /intel_realsense_r200_rgb/image_raw
-  ros_type_name: sensor_msgs/msg/Image
-  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/image
-  gz_type_name: gz.msgs.Image
-  direction: GZ_TO_ROS
-
-- ros_topic_name: /intel_realsense_r200_rgb/camera_info
-  ros_type_name: sensor_msgs/msg/CameraInfo
-  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/camera_info
-  gz_type_name: gz.msgs.CameraInfo
-  direction: GZ_TO_ROS
-
-# === Depth image (L16 workaround for Humble) ===
-# Gazebo depth camera with <format>L16</format> publishes on /depth_image topic
-# as gz.msgs.Image type (NOT /image). This bypasses unsupported gz.msgs.DepthImage.
-- ros_topic_name: /intel_realsense_r200_depth/depth/image_raw
-  ros_type_name: sensor_msgs/msg/Image
-  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/depth_image
-  gz_type_name: gz.msgs.Image
-  direction: GZ_TO_ROS
-
-- ros_topic_name: /intel_realsense_r200_depth/camera_info
-  ros_type_name: sensor_msgs/msg/CameraInfo
-  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/camera_info
-  gz_type_name: gz.msgs.CameraInfo
-  direction: GZ_TO_ROS
-
 - ros_topic_name: /clock
   ros_type_name: rosgraph_msgs/msg/Clock
   gz_topic_name: /clock
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
index 7848f97..0112d30 100755
--- a/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
+++ b/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf
@@ -308,63 +308,6 @@
         </geometry>
       </collision>
       <pose>0.076 0 0.093 0 0 0</pose>
-
-      <!-- Depth camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
-           Original plugin had: hack_baseline=0.07 (stereo baseline), min_depth=0.001
-           Note: hack_baseline is a Gazebo Classic plugin-specific param for stereo simulation;
-                 Gz Sim uses raycasting rendering so it is NOT needed here.
-           Note: min_depth is replaced by <clip><near>=0.02 for minimum sensing distance. -->
-      <sensor name="intel_realsense_r200_depth" type="depth">
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <pose>0.076 0.0 0.093 0 0 0</pose>
-        <camera name="realsense_depth_camera">
-          <image>
-            <width>640</width>
-            <height>480</height>
-            <!-- L16 format: encodes depth as 16-bit uint (pixel value = depth in mm)
-                 This bypasses gz.msgs.DepthImage (unsupported in Humble ros_gz_bridge)
-                 and outputs standard gz.msgs.Image that can be bridged directly. -->
-            <format>L16</format>
-          </image>
-          <clip>
-            <near>0.02</near>
-            <far>10</far>
-          </clip>
-        </camera>
-        <!-- Disable native DepthImage output to avoid topic conflict.
-             With this false, Gazebo only publishes /image (L16) instead of /depth_image
-             NOTE: <output_depth_image> removed — not valid SDF for Gz Sim Harmonic -->
-      </sensor>
-
-      <!-- RGB camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
-           Original plugin had: hack_baseline=0.07 (stereo baseline)
-           Note: Not applicable in Gz Sim native sensor (same reason as depth camera above). -->
-      <sensor name="intel_realsense_r200_rgb" type="camera">
-        <always_on>true</always_on>
-        <visualize>true</visualize>
-        <update_rate>30</update_rate>
-	      <pose>0.076 0.0 0.093 0 0 0</pose>
-        <camera name="realsense_rgb_camera">
-          <horizontal_fov>1.02974</horizontal_fov>
-          <image>
-            <width>640</width>
-            <height>480</height>
-            <!-- <width>1920</width> -->
-            <!-- <height>1080</height> -->
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.02</near>
-            <far>300</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-      </sensor>
     </link>
 
     <joint name="base_joint" type="fixed">