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">
diff --git a/src/turtlebot3_simulations/turtlebot3_gazebo/websocket.gzlaunch b/src/turtlebot3_simulations/turtlebot3_gazebo/websocket.gzlaunch
deleted file mode 100644
index 19a00e1..0000000
--- a/src/turtlebot3_simulations/turtlebot3_gazebo/websocket.gzlaunch
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version='1.0'?>
-<gz version='1.0'>
-  <plugin name='gz::launch::WebsocketServer'
-          filename='gz-launch-websocket-server'>
-    <port>9002</port>
-  </plugin>
-</gz>