diff --git a/.gitignore b/.gitignore
index 259148f..f4f6338 100644
--- a/.gitignore
+++ b/.gitignore
@@ -30,3 +30,7 @@
 *.exe
 *.out
 *.app
+
+.idea
+build
+cmake-build-debug
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..994c43c
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.18)
+project(RGLGazeboPlugin)
+
+add_subdirectory(RGLServerPlugin)
+add_subdirectory(RGLGuiPlugin)
\ No newline at end of file
diff --git a/README.md b/README.md
index 89de190..8c052e2 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,25 @@
-# RGLGazeboPlugin
\ No newline at end of file
+# RGLGazeboPlugin
+## Warning:
+
+Currently tested only on ubuntu 20.04 (ubuntu 22 has faulty gazebo fortress atm)
+
+### Installation:
+From RGLGazeboPlugin directory:
+```
+mkdir build
+cd build
+cmake ..
+make -j
+cd ..
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=`pwd`/build/RGLServerPlugin
+export IGN_GUI_PLUGIN_PATH=`pwd`/build/RGLGuiPlugin
+```
+### demo:
+```
+cd test_world
+ign gazebo -v 4 actor_world.sdf
+```
+
+1. load RGLGuiPlugin from the menu on the upper right
+2. press the refresh button in the plugin
+3. start the simulation by pressing play, the lidar hits should be visible in the GUI
\ No newline at end of file
diff --git a/RGLGuiPlugin/CMakeLists.txt b/RGLGuiPlugin/CMakeLists.txt
new file mode 100644
index 0000000..b7c50c8
--- /dev/null
+++ b/RGLGuiPlugin/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+if(POLICY CMP0100)
+    cmake_policy(SET CMP0100 NEW)
+endif()
+
+project(RGLGuiPlugin)
+
+find_package(ignition-rendering6 REQUIRED)
+
+# GUI plugin
+set(GUI_PLUGIN RGLGuiPlugin)
+
+set(CMAKE_AUTOMOC ON)
+
+find_package(ignition-gui6 REQUIRED)
+find_package(ignition-msgs8 REQUIRED)
+
+QT5_ADD_RESOURCES(resources_RCC ${GUI_PLUGIN}.qrc)
+
+add_library(${GUI_PLUGIN} SHARED
+        ${GUI_PLUGIN}.cc
+        ${resources_RCC}
+        )
+target_link_libraries(${GUI_PLUGIN}
+        PRIVATE
+        ignition-gui6::ignition-gui6
+        ignition-rendering6::ignition-rendering6
+        ignition-msgs8::ignition-msgs8
+        )
\ No newline at end of file
diff --git a/RGLGuiPlugin/RGLGuiPlugin.cc b/RGLGuiPlugin/RGLGuiPlugin.cc
new file mode 100644
index 0000000..843d65d
--- /dev/null
+++ b/RGLGuiPlugin/RGLGuiPlugin.cc
@@ -0,0 +1,454 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <ignition/msgs/pointcloud_packed.pb.h>
+
+#include <limits>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <ignition/common/Console.hh>
+#include <ignition/common/Profiler.hh>
+#include <ignition/math/Color.hh>
+#include <ignition/math/Pose3.hh>
+#include <ignition/math/Vector3.hh>
+#include <ignition/msgs/PointCloudPackedUtils.hh>
+#include <ignition/msgs/Utility.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include <ignition/gui/Application.hh>
+#include <ignition/gui/Conversions.hh>
+#include <ignition/gui/GuiEvents.hh>
+#include <ignition/gui/MainWindow.hh>
+#include <ignition/rendering/RenderEngine.hh>
+#include <ignition/rendering/RenderingIface.hh>
+#include <ignition/rendering/Marker.hh>
+#include <ignition/math/Color.hh>
+
+#include "RGLGuiPlugin.hh"
+
+using namespace std::literals::chrono_literals;
+
+/// \brief Private data class for RGLGuiPlugin
+class ignition::gui::plugins::RGLGuiPluginPrivate
+{
+  /// \brief Makes a request to populate the scene with markers
+  public: void PublishMarkers();
+
+  /// \brief Makes a request to delete all markers related to the point cloud.
+  public: void ClearMarkers();
+
+  /// \brief Transport node
+  public: ignition::transport::Node node;
+
+  /// \brief Name of topic for PointCloudPacked
+  public: std::string pointCloudTopic;
+
+  /// \brief List of topics publishing PointCloudPacked.
+  public: QStringList pointCloudTopicList;
+
+  /// \brief Protect variables changed from transport and the user
+  public: std::recursive_mutex mutex;
+
+  /// \brief Point cloud message containing XYZ positions
+  public: ignition::msgs::PointCloudPacked pointCloudMsg;
+
+  /// \brief Color for minimum value, changeable at runtime
+public: ignition::math::Color minColor{ignition::math::Color::Red};
+
+  /// \brief Size of each point, changeable at runtime
+  public: float pointSize{1};
+
+  /// \brief True if showing, changeable at runtime
+  public: bool showing{true};
+
+    /// \brief Marks when a new change has been requested.
+  public: bool dirty{false};
+
+  public: ignition::rendering::MarkerPtr marker = nullptr;
+};
+
+using namespace ignition::gui::plugins;
+
+/////////////////////////////////////////////////
+RGLGuiPlugin::RGLGuiPlugin()
+  : ignition::gui::Plugin(),
+    dataPtr(std::make_unique<RGLGuiPluginPrivate>()) {}
+
+/////////////////////////////////////////////////
+RGLGuiPlugin::~RGLGuiPlugin()
+{
+  this->dataPtr->ClearMarkers();
+}
+
+/////////////////////////////////////////////////
+void RGLGuiPlugin::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
+{
+  if (this->title.empty())
+    this->title = "RGL Visualize";
+
+  // Parameters from XML
+  if (_pluginElem)
+  {
+    auto pointCloudTopicElem =
+        _pluginElem->FirstChildElement("point_cloud_topic");
+    if (nullptr != pointCloudTopicElem &&
+        nullptr != pointCloudTopicElem->GetText())
+    {
+      this->SetPointCloudTopicList({pointCloudTopicElem->GetText()});
+      this->OnPointCloudTopic(this->dataPtr->pointCloudTopicList.at(0));
+    }
+  }
+
+  ignition::gui::App()->findChild<
+    ignition::gui::MainWindow *>()->installEventFilter(this);
+}
+
+//////////////////////////////////////////////////
+void RGLGuiPlugin::OnPointCloudTopic(const QString &_pointCloudTopic)
+{
+  std::lock_guard<std::recursive_mutex> lock(this->dataPtr->mutex);
+  // Unsubscribe from previous choice
+  if (!this->dataPtr->pointCloudTopic.empty() &&
+      !this->dataPtr->node.Unsubscribe(this->dataPtr->pointCloudTopic))
+  {
+    ignerr << "Unable to unsubscribe from topic ["
+           << this->dataPtr->pointCloudTopic <<"]" <<std::endl;
+  }
+
+  // Clear visualization
+  this->dataPtr->ClearMarkers();
+
+  this->dataPtr->pointCloudTopic = _pointCloudTopic.toStdString();
+
+  // Request service
+  this->dataPtr->node.Request(this->dataPtr->pointCloudTopic,
+			      &RGLGuiPlugin::OnPointCloudService, this);
+
+  // Create new subscription
+  if (!this->dataPtr->node.Subscribe(this->dataPtr->pointCloudTopic,
+				     &RGLGuiPlugin::OnPointCloud, this))
+  {
+    ignerr << "Unable to subscribe to topic ["
+           << this->dataPtr->pointCloudTopic << "]\n";
+    return;
+  }
+  ignmsg << "Subscribed to " << this->dataPtr->pointCloudTopic << std::endl;
+}
+
+//////////////////////////////////////////////////
+void RGLGuiPlugin::Show(bool _show)
+{
+  this->dataPtr->showing = _show;
+  if (_show)
+  {
+    this->dataPtr->PublishMarkers();
+  }
+  else
+  {
+    this->dataPtr->ClearMarkers();
+  }
+}
+
+/////////////////////////////////////////////////
+void RGLGuiPlugin::OnRefresh()
+{
+  std::lock_guard<std::recursive_mutex> lock(this->dataPtr->mutex);
+  ignmsg << "Refreshing topic list for point cloud messages." << std::endl;
+
+  // Clear
+  this->dataPtr->pointCloudTopicList.clear();
+
+  // Get updated list
+  std::vector<std::string> allTopics;
+  this->dataPtr->node.TopicList(allTopics);
+  for (const auto& topic : allTopics)
+  {
+    std::vector<ignition::transport::MessagePublisher> publishers;
+    this->dataPtr->node.TopicInfo(topic, publishers);
+    for (const auto& pub : publishers)
+    {
+      if (pub.MsgTypeName() == "ignition.msgs.PointCloudPacked")
+      {
+        this->dataPtr->pointCloudTopicList.push_back(
+            QString::fromStdString(topic));
+      }
+    }
+  }
+
+  if (!this->dataPtr->pointCloudTopicList.empty())
+  {
+    this->OnPointCloudTopic(this->dataPtr->pointCloudTopicList.at(0));
+  }
+
+  this->PointCloudTopicListChanged();
+  this->FloatVTopicListChanged();
+}
+
+/////////////////////////////////////////////////
+QStringList RGLGuiPlugin::PointCloudTopicList() const
+{
+  return this->dataPtr->pointCloudTopicList;
+}
+
+/////////////////////////////////////////////////
+void RGLGuiPlugin::SetPointCloudTopicList(
+    const QStringList &_pointCloudTopicList)
+{
+  this->dataPtr->pointCloudTopicList = _pointCloudTopicList;
+  this->PointCloudTopicListChanged();
+}
+
+//////////////////////////////////////////////////
+void RGLGuiPlugin::OnPointCloud(
+    const ignition::msgs::PointCloudPacked &_msg)
+{
+  std::lock_guard<std::recursive_mutex> lock(this->dataPtr->mutex);
+  this->dataPtr->pointCloudMsg = _msg;
+  this->dataPtr->PublishMarkers();
+}
+
+//////////////////////////////////////////////////
+void RGLGuiPlugin::OnPointCloudService(
+    const ignition::msgs::PointCloudPacked &_msg, bool _result)
+{
+  if (!_result)
+  {
+    ignerr << "Service request failed." << std::endl;
+    return;
+  }
+  this->OnPointCloud(_msg);
+}
+
+//////////////////////////////////////////////////
+void RGLGuiPluginPrivate::PublishMarkers()
+{
+  IGN_PROFILE("RGLGuiPlugin::PublishMarkers");
+
+  if (!this->showing)
+    return;
+
+  this->dirty = true;
+}
+
+//////////////////////////////////////////////////
+void RGLGuiPluginPrivate::ClearMarkers()
+{
+  if (this->pointCloudTopic.empty() || marker == nullptr)
+    return;
+
+  marker->ClearPoints();
+}
+
+/////////////////////////////////////////////////
+QColor RGLGuiPlugin::MinColor() const
+{
+  return ignition::gui::convert(this->dataPtr->minColor);
+}
+
+/////////////////////////////////////////////////
+void RGLGuiPlugin::SetMinColor(const QColor &_minColor)
+{
+  this->dataPtr->minColor = ignition::gui::convert(_minColor);
+  this->MinColorChanged();
+  this->dataPtr->PublishMarkers();
+}
+
+/////////////////////////////////////////////////
+float RGLGuiPlugin::PointSize() const
+{
+  return this->dataPtr->pointSize;
+}
+
+/////////////////////////////////////////////////
+//! [eventFilter]
+bool RGLGuiPlugin::eventFilter(QObject *_obj, QEvent *_event)
+{
+    if (_event->type() == ignition::gui::events::Render::kType)
+    {
+        // This event is called in the render thread, so it's safe to make
+        // rendering calls here
+        this->PerformRenderingOperations();
+    }
+
+    // Standard event processing
+    return QObject::eventFilter(_obj, _event);
+}
+//! [eventFilter]
+
+/////////////////////////////////////////////////
+void RGLGuiPlugin::SetPointSize(float _pointSize)
+{
+  this->dataPtr->pointSize = _pointSize;
+  this->PointSizeChanged();
+  this->dataPtr->PublishMarkers();
+}
+
+/////////////////////////////////////////////////
+//! [performRenderingOperations]
+void RGLGuiPlugin::PerformRenderingOperations()
+{
+    if (!this->dataPtr->dirty)
+    {
+        return;
+    }
+
+    if (nullptr == this->scene)
+    {
+        this->FindScene();
+    }
+
+    if (nullptr == this->scene) return;
+
+    if (nullptr == this->dataPtr->marker) {
+        this->CreateMarker();
+    }
+
+    if (nullptr == this->dataPtr->marker) return;
+
+    this->dataPtr->marker->ClearPoints();
+
+    this->dataPtr->marker->SetSize(this->dataPtr->pointSize);
+
+    ignition::rendering::MaterialPtr materialPtr = this->scene->CreateMaterial();
+    materialPtr->SetLightingEnabled(false);
+    materialPtr->SetDiffuse(this->dataPtr->minColor);
+    dataPtr->marker->SetMaterial(materialPtr, true);
+    this->scene->DestroyMaterial(materialPtr);
+
+    ignition::msgs::PointCloudPackedIterator<float>
+            iterX(this->dataPtr->pointCloudMsg, "x");
+    ignition::msgs::PointCloudPackedIterator<float>
+            iterY(this->dataPtr->pointCloudMsg, "y");
+    ignition::msgs::PointCloudPackedIterator<float>
+            iterZ(this->dataPtr->pointCloudMsg, "z");
+
+
+    auto start_populating_msg = std::chrono::system_clock::now();
+
+    for (; iterX != iterX.End(); ++iterX, ++iterY, ++iterZ)
+    {
+        // setting the color here doesn't work
+        dataPtr->marker->AddPoint(*iterX, *iterY, *iterZ, ignition::math::Color::Red);
+    }
+
+    auto end_populating_msg = std::chrono::system_clock::now();
+    auto time_to_populate_msg = std::chrono::duration_cast<std::chrono::milliseconds>(end_populating_msg - start_populating_msg);
+    ignmsg << "GUI populate message and visualize time: " << time_to_populate_msg.count() << " ms\n";
+
+    std::lock_guard<std::recursive_mutex> lock(this->dataPtr->mutex);
+    this->dataPtr->dirty = false;
+}
+//! [performRenderingOperations]
+
+void RGLGuiPlugin::CreateMarker() {
+    if (nullptr == this->scene) {
+        ignerr << "RGLGuiPlugin could not find scene while attempting to create marker";
+        return;
+    }
+
+    static size_t rgl_id = 0;
+    // Create the name for the marker
+    std::string name = "__RGL_MARKER_VISUAL__" + std::to_string(rgl_id);
+
+    rgl_id++;
+
+    // Create the new marker
+    visualPtr = this->scene->CreateVisual(name);
+
+    // Create and load the marker
+    this->dataPtr->marker = this->scene->CreateMarker();
+
+    // Set the marker values from the Marker Message
+    dataPtr->marker->SetLayer(0);
+
+    dataPtr->marker->SetLifetime(10min);
+
+    dataPtr->marker->SetSize(this->dataPtr->pointSize);
+
+    dataPtr->marker->SetType(ignition::rendering::MarkerType::MT_POINTS);
+
+    ignition::rendering::MaterialPtr materialPtr = this->scene->CreateMaterial();
+    materialPtr->SetLightingEnabled(false);
+    materialPtr->SetDiffuse(this->dataPtr->minColor);
+    dataPtr->marker->SetMaterial(materialPtr, true);
+    this->scene->DestroyMaterial(materialPtr);
+
+    // Add populated marker to the visual
+    visualPtr->AddGeometry(dataPtr->marker);
+
+    this->scene->RootVisual()->AddChild(visualPtr);
+}
+
+/////////////////////////////////////////////////
+void RGLGuiPlugin::FindScene()
+{
+    auto loadedEngNames = ignition::rendering::loadedEngines();
+    if (loadedEngNames.empty())
+    {
+        igndbg << "No rendering engine is loaded yet" << std::endl;
+        return;
+    }
+
+    // assume there is only one engine loaded
+    auto engineName = loadedEngNames[0];
+    if (loadedEngNames.size() > 1)
+    {
+        igndbg << "More than one engine is available. "
+               << "Using engine [" << engineName << "]" << std::endl;
+    }
+    auto engine = ignition::rendering::engine(engineName);
+    if (!engine)
+    {
+        ignerr << "Internal error: failed to load engine [" << engineName
+               << "]. Grid plugin won't work." << std::endl;
+        return;
+    }
+
+    if (engine->SceneCount() == 0)
+    {
+        igndbg << "No scene has been created yet" << std::endl;
+        return;
+    }
+
+    // Get first scene
+    auto scenePtr = engine->SceneByIndex(0);
+    if (nullptr == scenePtr)
+    {
+        ignerr << "Internal error: scene is null." << std::endl;
+        return;
+    }
+
+    if (engine->SceneCount() > 1)
+    {
+        igndbg << "More than one scene is available. "
+               << "Using scene [" << scene->Name() << "]" << std::endl;
+    }
+
+    if (!scenePtr->IsInitialized() || nullptr == scenePtr->RootVisual())
+    {
+        return;
+    }
+
+    this->scene = scenePtr;
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(RGLGuiPlugin,
+		    ignition::gui::Plugin)
diff --git a/RGLGuiPlugin/RGLGuiPlugin.hh b/RGLGuiPlugin/RGLGuiPlugin.hh
new file mode 100644
index 0000000..46e61a6
--- /dev/null
+++ b/RGLGuiPlugin/RGLGuiPlugin.hh
@@ -0,0 +1,264 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef GZ_GUI_PLUGINS_POINTCLOUD_HH_
+#define GZ_GUI_PLUGINS_POINTCLOUD_HH_
+
+#include <memory>
+
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif
+#include <ignition/msgs/float_v.pb.h>
+#include <ignition/msgs/pointcloud_packed.pb.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#include <ignition/gui/Plugin.hh>
+#include <ignition/rendering/Scene.hh>
+
+namespace ignition::gui::plugins
+{
+  class RGLGuiPluginPrivate;
+
+  /// \brief Visualize `gz::msgs::PointCloudPacked` messages in a 3D
+  /// scene.
+  ///
+  /// By default, the whole cloud is displayed using a single color. Users
+  /// can optionally choose a topic publishing `gz::msgs::FloatV` messages
+  /// which will be used to color all points with a color gradient according to
+  /// their values. The float message must have the same number of elements as
+  /// the point cloud and be indexed the same way. NaN values on the FloatV
+  /// message aren't displayed.
+  ///
+  /// Requirements:
+  /// * A plugin that loads a 3D scene, such as `MinimalScene`
+  /// * The `MarkerManager` plugin
+  ///
+  /// Parameters:
+  ///
+  /// * `<point_cloud_topic>`: Topic to receive
+  ///      `gz::msgs::PointCloudPacked` messages.
+  /// * `<float_v_topic>`: Topic to receive `gz::msgs::FloatV` messages.
+  class RGLGuiPlugin : public ignition::gui::Plugin
+  {
+    Q_OBJECT
+
+    /// \brief List of topics publishing PointCloudPacked messages
+    Q_PROPERTY(
+      QStringList pointCloudTopicList
+      READ PointCloudTopicList
+      WRITE SetPointCloudTopicList
+      NOTIFY PointCloudTopicListChanged
+    )
+
+    /// \brief List of topics publishing FloatV messages
+    Q_PROPERTY(
+      QStringList floatVTopicList
+      READ FloatVTopicList
+      WRITE SetFloatVTopicList
+      NOTIFY FloatVTopicListChanged
+    )
+
+    /// \brief Color for minimum value
+    Q_PROPERTY(
+      QColor minColor
+      READ MinColor
+      WRITE SetMinColor
+      NOTIFY MinColorChanged
+    )
+
+    /// \brief Color for maximum value
+    Q_PROPERTY(
+      QColor maxColor
+      READ MaxColor
+      WRITE SetMaxColor
+      NOTIFY MaxColorChanged
+    )
+
+    /// \brief Minimum value
+    Q_PROPERTY(
+      float minFloatV
+      READ MinFloatV
+      WRITE SetMinFloatV
+      NOTIFY MinFloatVChanged
+    )
+
+    /// \brief Maximum value
+    Q_PROPERTY(
+      float maxFloatV
+      READ MaxFloatV
+      WRITE SetMaxFloatV
+      NOTIFY MaxFloatVChanged
+    )
+
+    /// \brief Point size
+    Q_PROPERTY(
+      float pointSize
+      READ PointSize
+      WRITE SetPointSize
+      NOTIFY PointSizeChanged
+    )
+
+    /// \brief Constructor
+    public: RGLGuiPlugin();
+
+    /// \brief Destructor
+    public: ~RGLGuiPlugin() override;
+
+    // Documentation inherited
+    public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+    /// \brief Callback function for point cloud topic.
+    /// \param[in] _msg Point cloud message
+    public: void OnPointCloud(const msgs::PointCloudPacked &_msg);
+
+    /// \brief Callback function for point cloud service
+    /// \param[in] _msg Point cloud message
+    /// \param[out] _result True on success.
+    public: void OnPointCloudService(const msgs::PointCloudPacked &_msg,
+        bool _result);
+
+    /// \brief Get the topic list
+    /// \return List of topics
+    public: Q_INVOKABLE QStringList PointCloudTopicList() const;
+
+    /// \brief Set the topic list from a string
+    /// \param[in] _pointCloudTopicList List of topics.
+    public: Q_INVOKABLE void SetPointCloudTopicList(
+        const QStringList &_pointCloudTopicList);
+
+    /// \brief Notify that topic list has changed
+    signals: void PointCloudTopicListChanged();
+
+    /// \brief Set topic to subscribe to for point cloud.
+    /// \param[in] _topicName Name of selected topic
+    public: Q_INVOKABLE void OnPointCloudTopic(const QString &_topicName);
+
+    /// \brief Callback function for float vector topic.
+    /// \param[in] _msg Float vector message
+    public: void OnFloatV(const msgs::Float_V &_msg);
+
+    /// \brief Callback function for point cloud service
+    /// \param[in] _msg Float vector message
+    /// \param[out] _result True on success.
+    public: void OnFloatVService(const msgs::Float_V &_msg, bool _result);
+
+    /// \brief Get the topic list
+    /// \return List of topics
+    public: Q_INVOKABLE QStringList FloatVTopicList() const;
+
+    /// \brief Set the topic list from a string
+    /// \param[in] _floatVTopicList List of topics.
+    public: Q_INVOKABLE void SetFloatVTopicList(
+        const QStringList &_floatVTopicList);
+
+    /// \brief Notify that topic list has changed
+    signals: void FloatVTopicListChanged();
+
+    /// \brief Set topic to subscribe to for float vectors.
+    /// \param[in] _topicName Name of selected topic
+    public: Q_INVOKABLE void OnFloatVTopic(const QString &_topicName);
+
+    /// \brief Get the minimum color
+    /// \return Minimum color
+    public: Q_INVOKABLE QColor MinColor() const;
+
+    /// \brief Set the minimum color
+    /// \param[in] _minColor Minimum color.
+    public: Q_INVOKABLE void SetMinColor(const QColor &_minColor);
+
+    /// \brief Notify that minimum color has changed
+    signals: void MinColorChanged();
+
+    /// \brief Get the maximum color
+    /// \return Maximum color
+    public: Q_INVOKABLE QColor MaxColor() const;
+
+    /// \brief Set the maximum color
+    /// \param[in] _maxColor Maximum color.
+    public: Q_INVOKABLE void SetMaxColor(const QColor &_maxColor);
+
+    /// \brief Notify that maximum color has changed
+    signals: void MaxColorChanged();
+
+    /// \brief Get the minimum value
+    /// \return Minimum value
+    public: Q_INVOKABLE float MinFloatV() const;
+
+    /// \brief Set the minimum value
+    /// \param[in] _minFloatV Minimum value.
+    public: Q_INVOKABLE void SetMinFloatV(float _minFloatV);
+
+    /// \brief Notify that minimum value has changed
+    signals: void MinFloatVChanged();
+
+    /// \brief Get the maximum value
+    /// \return Maximum value
+    public: Q_INVOKABLE float MaxFloatV() const;
+
+    /// \brief Set the maximum value
+    /// \param[in] _maxFloatV Maximum value.
+    public: Q_INVOKABLE void SetMaxFloatV(float _maxFloatV);
+
+    /// \brief Notify that maximum value has changed
+    signals: void MaxFloatVChanged();
+
+    /// \brief Get the point size
+    /// \return Maximum value
+    public: Q_INVOKABLE float PointSize() const;
+
+    /// \brief Set the point size
+    /// \param[in] _pointSize Maximum value.
+    public: Q_INVOKABLE void SetPointSize(float _pointSize);
+
+    /// \brief Notify that point size has changed
+    signals: void PointSizeChanged();
+
+    /// \brief Set whether to show the point cloud.
+    /// \param[in] _show Boolean value for displaying the points.
+    public: Q_INVOKABLE void Show(bool _show);
+
+    /// \brief Callback when refresh button is pressed.
+    public: Q_INVOKABLE void OnRefresh();
+
+    /// \internal
+    /// \brief Pointer to private data
+    private: std::unique_ptr<RGLGuiPluginPrivate> dataPtr;
+
+      /// \brief All rendering operations must happen within this call
+  private: void PerformRenderingOperations();
+
+      /// \brief Encapsulates the logic to find the rendering scene through the
+      /// render engine singleton.
+  private: void FindScene();
+
+      /// \brief Callback for all installed event filters.
+      /// \param[in] _obj Object that received the event
+      /// \param[in] _event Event
+  private: bool eventFilter(QObject *_obj, QEvent *_event) override;
+
+      /// \brief Pointer to the rendering scene.
+  private: ignition::rendering::ScenePtr scene{nullptr};
+
+  private: ignition::rendering::VisualPtr visualPtr = nullptr;
+
+  private: void CreateMarker();
+  };
+}
+#endif
diff --git a/RGLGuiPlugin/RGLGuiPlugin.qml b/RGLGuiPlugin/RGLGuiPlugin.qml
new file mode 100644
index 0000000..07387b7
--- /dev/null
+++ b/RGLGuiPlugin/RGLGuiPlugin.qml
@@ -0,0 +1,151 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+import QtQuick 2.9
+import QtQuick.Controls 2.1
+import QtQuick.Dialogs 1.0
+import QtQuick.Controls.Material 2.1
+import QtQuick.Layouts 1.3
+import ignition.gui 1.0
+import "qrc:/qml"
+
+ColumnLayout {
+  spacing: 10
+  Layout.minimumWidth: 350
+  Layout.minimumHeight: 350
+  anchors.fill: parent
+  anchors.leftMargin: 10
+  anchors.rightMargin: 10
+
+  RowLayout {
+    spacing: 10
+    Layout.fillWidth: true
+
+    Switch {
+      Layout.alignment: Qt.AlignHCenter
+      id: displayVisual
+      Layout.columnSpan: 5
+      Layout.fillWidth: true
+      text: qsTr("Show")
+      checked: true
+      onToggled: {
+        RGLGuiPlugin.Show(checked)
+      }
+    }
+
+    RoundButton {
+      Layout.columnSpan: 1
+      text: "\u21bb"
+      Material.background: Material.primary
+      onClicked: {
+        RGLGuiPlugin.OnRefresh();
+        pcCombo.currentIndex = 0
+      }
+      ToolTip.visible: hovered
+      ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+      ToolTip.text: qsTr("Refresh list of topics publishing point clouds and float vectors")
+    }
+  }
+
+  GridLayout {
+    columns: 3
+    columnSpacing: 10
+    Layout.fillWidth: true
+
+    Label {
+      Layout.columnSpan: 1
+      text: "Point cloud"
+    }
+
+    ComboBox {
+      Layout.columnSpan: 2
+      id: pcCombo
+      Layout.fillWidth: true
+      model: RGLGuiPlugin.pointCloudTopicList
+      currentIndex: 0
+      onCurrentIndexChanged: {
+        if (currentIndex < 0)
+          return;
+        RGLGuiPlugin.OnPointCloudTopic(textAt(currentIndex));
+      }
+      ToolTip.visible: hovered
+      ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+      ToolTip.text: qsTr("Gazebo Transport topics publishing PointCloudPacked messages")
+    }
+
+    Label {
+      Layout.columnSpan: 1
+      text: "Point size"
+    }
+
+    IgnSpinBox {
+      id: pointSizeSpin
+      value: RGLGuiPlugin.pointSize
+      minimumValue: 1
+      maximumValue: 1000
+      decimals: 0
+      onEditingFinished: {
+        RGLGuiPlugin.SetPointSize(pointSizeSpin.value)
+      }
+    }
+  }
+
+  RowLayout {
+    spacing: 10
+    Layout.fillWidth: true
+
+    Label {
+      Layout.columnSpan: 1
+      text: "Color"
+    }
+
+    Button {
+      Layout.columnSpan: 1
+      id: minColorButton
+      ToolTip.visible: hovered
+      ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval
+      ToolTip.text: qsTr("Color for minimum value")
+      onClicked: minColorDialog.open()
+      background: Rectangle {
+        implicitWidth: 40
+        implicitHeight: 40
+        radius: 5
+        border.color: RGLGuiPlugin.minColor
+        border.width: 2
+        color: RGLGuiPlugin.minColor
+      }
+      ColorDialog {
+        id: minColorDialog
+        title: "Choose a color for the minimum value"
+        visible: false
+        onAccepted: {
+          RGLGuiPlugin.SetMinColor(minColorDialog.color)
+          minColorDialog.close()
+        }
+        onRejected: {
+          minColorDialog.close()
+        }
+      }
+    }
+  }
+
+  Item {
+    Layout.columnSpan: 6
+    width: 10
+    Layout.fillHeight: true
+  }
+}
diff --git a/RGLGuiPlugin/RGLGuiPlugin.qrc b/RGLGuiPlugin/RGLGuiPlugin.qrc
new file mode 100644
index 0000000..a7fb03c
--- /dev/null
+++ b/RGLGuiPlugin/RGLGuiPlugin.qrc
@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="RGLGuiPlugin/">
+  <file>RGLGuiPlugin.qml</file>
+</qresource>
+</RCC>
diff --git a/RGLServerPlugin/CMakeLists.txt b/RGLServerPlugin/CMakeLists.txt
new file mode 100644
index 0000000..9c6c0b6
--- /dev/null
+++ b/RGLServerPlugin/CMakeLists.txt
@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.18)
+project(RGLServerPlugin)
+set(CMAKE_CXX_STANDARD 20)
+
+find_package(ignition-gazebo6 REQUIRED)
+find_package(ignition-plugin1 REQUIRED)
+
+# External dependencies
+add_subdirectory(external)
+
+include_directories(include)
+
+add_library(RGLServerPluginManager SHARED src/RGLServerPluginManager.cc src/Mesh.cc src/Utils.cc src/Scene.cc)
+target_link_libraries(RGLServerPluginManager
+    ignition-gazebo6::ignition-gazebo6
+    ignition-plugin1::ignition-plugin1
+    RobotecGPULidar
+)
+
+add_library(RGLServerPluginInstance SHARED src/RGLServerPluginInstance.cc src/Lidar.cc src/Utils.cc)
+target_link_libraries(RGLServerPluginInstance
+    ignition-gazebo6::ignition-gazebo6
+    ignition-plugin1::ignition-plugin1
+    RobotecGPULidar
+)
diff --git a/RGLServerPlugin/external/CMakeLists.txt b/RGLServerPlugin/external/CMakeLists.txt
new file mode 100644
index 0000000..17cd44c
--- /dev/null
+++ b/RGLServerPlugin/external/CMakeLists.txt
@@ -0,0 +1,9 @@
+include(FetchContent)
+
+FetchContent_Declare(
+        RobotecGPULidar
+        GIT_REPOSITORY git@github.com:RobotecAI/RobotecGPULidar.git
+        GIT_TAG v0.10.2
+)
+
+FetchContent_MakeAvailable(RobotecGPULidar)
\ No newline at end of file
diff --git a/RGLServerPlugin/include/RGLServerPluginInstance.hh b/RGLServerPlugin/include/RGLServerPluginInstance.hh
new file mode 100644
index 0000000..cccc482
--- /dev/null
+++ b/RGLServerPlugin/include/RGLServerPluginInstance.hh
@@ -0,0 +1,92 @@
+#pragma once
+
+#include "rgl/api/experimental.h"
+
+#include <ignition/common/MeshManager.hh>
+
+#include <ignition/gazebo/components/Geometry.hh>
+#include <ignition/gazebo/components/Visual.hh>
+#include <ignition/gazebo/System.hh>
+
+#include <ignition/transport/Node.hh>
+
+#define WORLD_ENTITY_ID 1
+
+#define RGL_CHECK(call)                  \
+do {                                     \
+    rgl_status_t status = call;          \
+    if (status != RGL_SUCCESS) {         \
+        const char* msg;                 \
+        rgl_get_last_error_string(&msg); \
+        ignerr << msg;                   \
+        exit(1);                         \
+    }                                    \
+} while(0)
+
+using namespace std::literals::chrono_literals;
+
+namespace rgl {
+    class RGLServerPluginInstance :
+            public ignition::gazebo::System,
+            public ignition::gazebo::ISystemConfigure,
+            public ignition::gazebo::ISystemPreUpdate,
+            public ignition::gazebo::ISystemPostUpdate {
+
+    public:
+        RGLServerPluginInstance();
+
+        ~RGLServerPluginInstance() override;
+
+        // only called once, when plugin is being loaded
+        void Configure(
+                const ignition::gazebo::Entity& entity,
+                const std::shared_ptr<const sdf::Element>& sdf,
+                ignition::gazebo::EntityComponentManager& ecm,
+                ignition::gazebo::EventManager& eventMgr) override;
+
+        // called every time before physics update runs (can change entities)
+        void PreUpdate(
+                const ignition::gazebo::UpdateInfo& info,
+                ignition::gazebo::EntityComponentManager& ecm) override;
+
+        // called every time after physics runs (can't change entities)
+        void PostUpdate(
+                const ignition::gazebo::UpdateInfo& info,
+                const ignition::gazebo::EntityComponentManager& ecm) override;
+
+    private:
+        ////////////////////////////////////////////// Variables /////////////////////////////////////////////
+
+        size_t current_update = 0;
+
+        size_t updates_between_raytraces = 0;
+
+        size_t last_raytrace_update = 0;
+
+        ignition::transport::Node::Publisher pointcloud_publisher;
+
+        ignition::transport::Node node;
+
+        ignition::gazebo::Entity gazebo_lidar = 0;
+
+        int lidar_id = -1;
+
+        bool lidar_exists = true;
+
+        rgl_lidar_t rgl_lidar = nullptr;
+
+        std::chrono::steady_clock::duration last_raytrace_time = 0ms;
+
+        std::chrono::steady_clock::duration time_between_raytraces = 100ms;
+
+        ////////////////////////////////////////////// Functions /////////////////////////////////////////////
+
+        void CreateLidar(ignition::gazebo::Entity entity);
+
+        void UpdateLidarPose(const ignition::gazebo::EntityComponentManager& ecm);
+
+        void RayTrace(ignition::gazebo::EntityComponentManager& ecm, std::chrono::steady_clock::duration sim_time, bool paused);
+
+        bool CheckLidarExists(ignition::gazebo::Entity entity);
+    };
+}
diff --git a/RGLServerPlugin/include/RGLServerPluginManager.hh b/RGLServerPlugin/include/RGLServerPluginManager.hh
new file mode 100644
index 0000000..b32dded
--- /dev/null
+++ b/RGLServerPlugin/include/RGLServerPluginManager.hh
@@ -0,0 +1,162 @@
+#pragma once
+
+#include "rgl/api/experimental.h"
+
+#include <ignition/common/MeshManager.hh>
+
+#include <ignition/gazebo/components/Geometry.hh>
+#include <ignition/gazebo/components/Visual.hh>
+#include <ignition/gazebo/System.hh>
+
+#include <ignition/transport/Node.hh>
+
+#define WORLD_ENTITY_ID 1
+
+#define RGL_CHECK(call)                  \
+do {                                     \
+    rgl_status_t status = call;          \
+    if (status != RGL_SUCCESS) {         \
+        const char* msg;                 \
+        rgl_get_last_error_string(&msg); \
+        ignerr << msg;                   \
+        exit(1);                         \
+    }                                    \
+} while(0)
+
+namespace rgl {
+    class RGLServerPluginManager :
+            public ignition::gazebo::System,
+            public ignition::gazebo::ISystemConfigure,
+            public ignition::gazebo::ISystemPreUpdate,
+            public ignition::gazebo::ISystemPostUpdate {
+
+    public:
+        RGLServerPluginManager();
+
+        ~RGLServerPluginManager() override;
+
+        // only called once, when plugin is being loaded
+        void Configure(
+                const ignition::gazebo::Entity& entity,
+                const std::shared_ptr<const sdf::Element>& sdf,
+                ignition::gazebo::EntityComponentManager& ecm,
+                ignition::gazebo::EventManager& eventMgr) override;
+
+        // called every time before physics update runs (can change entities)
+        void PreUpdate(
+                const ignition::gazebo::UpdateInfo& info,
+                ignition::gazebo::EntityComponentManager& ecm) override;
+
+        // called every time after physics runs (can't change entities)
+        void PostUpdate(
+                const ignition::gazebo::UpdateInfo& info,
+                const ignition::gazebo::EntityComponentManager& ecm) override;
+
+        ////////////////////////////// Utils /////////////////////////////////
+
+        static ignition::math::Pose3<double> FindWorldPose(
+                const ignition::gazebo::Entity& entity,
+                const ignition::gazebo::EntityComponentManager& ecm);
+
+        // get the local to global transform matrix
+        static rgl_mat3x4f GetRglMatrix(ignition::gazebo::Entity entity,
+                                        const ignition::gazebo::EntityComponentManager& ecm);
+
+        // gazebo mesh factory had problems with adding multiple floats becoming unreliable
+        static float RoundFloat(float value);
+
+    private:
+        ////////////////////////////////////////////// Variables /////////////////////////////////////////////
+        ////////////////////////////// Lidar ////////////////////////////////
+        // contains pointers to all entities that were loaded to rgl (as well as to their meshes)
+        std::unordered_map<ignition::gazebo::Entity, std::pair<rgl_entity_t, rgl_mesh_t>> entities_in_rgl;
+
+        // the entity ids, that the lidars are attached to
+        std::unordered_set<ignition::gazebo::Entity> gazebo_lidars;
+
+        // all entities, that the lidar should ignore
+        std::unordered_set<ignition::gazebo::Entity> lidar_ignore;
+
+        ////////////////////////////// Mesh /////////////////////////////////
+
+        ignition::common::MeshManager* mesh_manager{ignition::common::MeshManager::Instance()};
+
+        ////////////////////////////////////////////// Functions /////////////////////////////////////////////
+        ////////////////////////////// Scene ////////////////////////////////
+
+        bool CheckNewLidars(
+                ignition::gazebo::Entity entity,
+                const ignition::gazebo::EntityComponentManager& ecm);
+
+        bool CheckRemovedLidars(
+                ignition::gazebo::Entity entity,
+                const ignition::gazebo::EntityComponentManager& ecm);
+
+        bool LoadEntityToRGL(
+                const ignition::gazebo::Entity& entity,
+                const ignition::gazebo::components::Visual*,
+                const ignition::gazebo::components::Geometry* geometry);
+
+        bool RemoveEntityFromRGL(
+                const ignition::gazebo::Entity& entity,
+                const ignition::gazebo::components::Visual*,
+                const ignition::gazebo::components::Geometry*);
+
+        void UpdateRGLEntityPose(const ignition::gazebo::EntityComponentManager& ecm);
+
+        ////////////////////////////// Mesh /////////////////////////////////
+
+        const ignition::common::Mesh* LoadBox(
+                const sdf::Geometry& data,
+                double& scale_x,
+                double& scale_y,
+                double& scale_z);
+
+        const ignition::common::Mesh* LoadCapsule(const sdf::Geometry& data);
+
+        const ignition::common::Mesh* LoadCylinder(
+                const sdf::Geometry& data,
+                double& scale_x,
+                double& scale_y,
+                double& scale_z);
+
+        const ignition::common::Mesh* LoadEllipsoid(
+                const sdf::Geometry& data,
+                double& scale_x,
+                double& scale_y,
+                double& scale_z);
+
+        const ignition::common::Mesh* LoadMesh(
+                const sdf::Geometry& data,
+                double& scale_x,
+                double& scale_y,
+                double& scale_z);
+
+        const ignition::common::Mesh* LoadPlane(
+                const sdf::Geometry& data,
+                double& scale_x,
+                double& scale_y);
+
+        const ignition::common::Mesh* LoadSphere(
+                const sdf::Geometry& data,
+                double& scale_x,
+                double& scale_y,
+                double& scale_z);
+
+        // also gets the scale of the mesh
+        const ignition::common::Mesh* GetMeshPointer(
+                const sdf::Geometry& data,
+                double& scale_x,
+                double& scale_y,
+                double& scale_z);
+
+        bool GetMesh(
+                const sdf::Geometry& data,
+                size_t& vertex_count,
+                size_t& triangle_count,
+                std::vector<rgl_vec3f>& vertices,
+                std::vector<rgl_vec3i>& triangles);
+
+        bool LoadMeshToRGL(rgl_mesh_t* new_mesh, const sdf::Geometry& data);
+    };
+}
diff --git a/RGLServerPlugin/src/Lidar.cc b/RGLServerPlugin/src/Lidar.cc
new file mode 100644
index 0000000..2741867
--- /dev/null
+++ b/RGLServerPlugin/src/Lidar.cc
@@ -0,0 +1,126 @@
+#include "RGLServerPluginInstance.hh"
+#include "RGLServerPluginManager.hh"
+
+#define RAYS_IN_ONE_DIR 1000
+
+using namespace rgl;
+
+void RGLServerPluginInstance::CreateLidar(ignition::gazebo::Entity entity) {
+    updates_between_raytraces = std::chrono::duration_cast<std::chrono::milliseconds>(time_between_raytraces).count();
+
+    ignmsg << "attached to: " << entity << std::endl;
+    gazebo_lidar = entity;
+    static int next_free_id = 0;
+    lidar_id = next_free_id;
+    next_free_id++;
+
+    rgl_configure_logging(RGL_LOG_LEVEL_DEBUG, nullptr, true);
+    size_t rays = RAYS_IN_ONE_DIR * RAYS_IN_ONE_DIR;
+    std::vector<rgl_mat3x4f> ray_tf;
+    ignition::math::Angle X;
+    ignition::math::Angle Y;
+    double unit_angle = ignition::math::Angle::TwoPi.Radian() / RAYS_IN_ONE_DIR;
+    for (int i = 0; i < RAYS_IN_ONE_DIR; ++i, X.SetRadian(unit_angle * i)) {
+        for (int j = 0; j < RAYS_IN_ONE_DIR; ++j, Y.SetRadian(unit_angle * j)) {
+            ignition::math::Quaterniond quaternion(0, X.Radian(), Y.Radian());
+            ignition::math::Matrix4d matrix4D(quaternion);
+            rgl_mat3x4f rgl_matrix;
+            for (int l = 0; l < 3; ++l) {
+                for (int m = 0; m < 4; ++m) {
+                    rgl_matrix.value[l][m] = static_cast<float>(matrix4D(l, m));
+                }
+            }
+            ray_tf.push_back(rgl_matrix);
+        }
+    }
+    RGL_CHECK(rgl_lidar_create(&rgl_lidar, ray_tf.data(), rays));
+    pointcloud_publisher = node.Advertise<ignition::msgs::PointCloudPacked>(
+            "/RGL_point_cloud_" + std::to_string(lidar_id));
+}
+
+
+
+void RGLServerPluginInstance::UpdateLidarPose(const ignition::gazebo::EntityComponentManager& ecm) {
+    if (!lidar_exists) {
+        return;
+    }
+    auto rgl_pose_matrix = RGLServerPluginManager::GetRglMatrix(gazebo_lidar, ecm);
+    RGL_CHECK(rgl_lidar_set_pose(rgl_lidar, &rgl_pose_matrix));
+
+    /// Debug printf
+//    ignmsg << "lidar: " << gazebo_lidar << " rgl_pose_matrix: " << std::endl;
+//    for (int i = 0; i < 3; ++i) {
+//        for (int j = 0; j < 4; ++j) {
+//            ignmsg << rgl_pose_matrix.value[i][j] << " ";
+//        }
+//        ignmsg << std::endl;
+//    }
+
+}
+
+void RGLServerPluginInstance::RayTrace(ignition::gazebo::EntityComponentManager& ecm,
+                                       std::chrono::steady_clock::duration sim_time, bool paused) {
+    if (!lidar_exists) {
+        return;
+    }
+
+    current_update++;
+
+    if (!paused && sim_time < last_raytrace_time + time_between_raytraces) {
+        return;
+    }
+    if (!paused) {
+        last_raytrace_time = sim_time;
+    }
+
+    if (paused && current_update < last_raytrace_update + updates_between_raytraces) {
+        return;
+    }
+
+    last_raytrace_update = current_update;
+
+    RGL_CHECK(rgl_lidar_raytrace_async(nullptr, rgl_lidar));
+
+    int hitpoint_count = 0;
+    RGL_CHECK(rgl_lidar_get_output_size(rgl_lidar, &hitpoint_count));
+    if (hitpoint_count == 0) return;
+    std::vector<rgl_vec3f> results(hitpoint_count, rgl_vec3f());
+    RGL_CHECK(rgl_lidar_get_output_data(rgl_lidar, RGL_FORMAT_XYZ, results.data()));
+
+    ignmsg << "Lidar id: " << lidar_id << " Got " << hitpoint_count << " hitpoint(s)\n";
+//    for (int i = 0; i < hitpoint_count; ++i) {
+//        ignmsg << " hit: " << i << " coordinates: " << results[i].value[0] << "," << results[i].value[1] << ","
+//               << results[i].value[2] << std::endl;
+//    }
+
+    // Create message
+    ignition::msgs::PointCloudPacked point_cloud_msg;
+    ignition::msgs::InitPointCloudPacked(point_cloud_msg, "some_frame", true,
+                                         {{"xyz", ignition::msgs::PointCloudPacked::Field::FLOAT32}});
+    point_cloud_msg.mutable_data()->resize(hitpoint_count * point_cloud_msg.point_step());
+    point_cloud_msg.set_height(1);
+    point_cloud_msg.set_width(hitpoint_count);
+
+    // Populate message
+    ignition::msgs::PointCloudPackedIterator<float> xIter(point_cloud_msg, "x");
+    ignition::msgs::PointCloudPackedIterator<float> yIter(point_cloud_msg, "y");
+    ignition::msgs::PointCloudPackedIterator<float> zIter(point_cloud_msg, "z");
+
+    for (int i = 0; i < hitpoint_count; ++i, ++xIter, ++yIter, ++zIter)
+    {
+        *xIter = results[i].value[0];
+        *yIter = results[i].value[1];
+        *zIter = results[i].value[2];
+    }
+
+    pointcloud_publisher.Publish(point_cloud_msg);
+}
+
+bool RGLServerPluginInstance::CheckLidarExists(ignition::gazebo::Entity entity) {
+    if (entity == gazebo_lidar) {
+        lidar_exists = false;
+        rgl_lidar_destroy(rgl_lidar);
+        pointcloud_publisher.Publish(ignition::msgs::PointCloudPacked());
+    }
+    return true;
+}
diff --git a/RGLServerPlugin/src/Mesh.cc b/RGLServerPlugin/src/Mesh.cc
new file mode 100644
index 0000000..75f76fc
--- /dev/null
+++ b/RGLServerPlugin/src/Mesh.cc
@@ -0,0 +1,278 @@
+#include "RGLServerPluginManager.hh"
+
+#include <ignition/common/Mesh.hh>
+#include <ignition/gazebo/Util.hh>
+
+#include <sdf/Box.hh>
+#include <sdf/Capsule.hh>
+#include <sdf/Cylinder.hh>
+#include <sdf/Ellipsoid.hh>
+#include <sdf/Mesh.hh>
+#include <sdf/Plane.hh>
+#include <sdf/Sphere.hh>
+
+#define UNIT_BOX_TEXT "unit_box"
+#define UNIT_CYLINDER_TEXT "unit_cylinder"
+#define UNIT_PLANE_TEXT "unit_plane"
+#define UNIT_SPHERE_TEXT "unit_sphere"
+#define RGL_CAPSULE_TEXT "RGLGazeboPlugin_capsule_"
+
+#define CAPSULE_RINGS 1
+#define CAPSULE_SEGMENTS 32
+
+using namespace rgl;
+
+const ignition::common::Mesh* RGLServerPluginManager::LoadBox(
+        const sdf::Geometry& data,
+        double& scale_x,
+        double& scale_y,
+        double& scale_z) {
+
+    std::cout << "BOX geometry" << std::endl;
+
+    auto size = data.BoxShape()->Size();
+
+    scale_x = size.X();
+    scale_y = size.Y();
+    scale_z = size.Z();
+
+    return mesh_manager->MeshByName(UNIT_BOX_TEXT);
+}
+
+const ignition::common::Mesh* RGLServerPluginManager::LoadCapsule(const sdf::Geometry& data) {
+    std::cout << "CAPSULE geometry" << std::endl;
+
+    static unsigned int capsule_id = 0;
+
+    auto shape = data.CapsuleShape();
+
+    mesh_manager->CreateCapsule(
+            RGL_CAPSULE_TEXT + std::to_string(capsule_id),
+            shape->Radius(),
+            shape->Length(),
+            CAPSULE_RINGS,
+            CAPSULE_SEGMENTS);
+
+    capsule_id++;
+
+    return mesh_manager->MeshByName(RGL_CAPSULE_TEXT + std::to_string(capsule_id - 1));
+}
+
+const ignition::common::Mesh* RGLServerPluginManager::LoadCylinder(
+        const sdf::Geometry& data,
+        double& scale_x,
+        double& scale_y,
+        double& scale_z) {
+
+    std::cout << "CYLINDER geometry" << std::endl;
+
+    auto shape = data.CylinderShape();
+
+    scale_x = shape->Radius() * 2;
+    scale_y = shape->Radius() * 2;
+    scale_z = shape->Length();
+
+    return mesh_manager->MeshByName(UNIT_CYLINDER_TEXT);
+}
+
+const ignition::common::Mesh* RGLServerPluginManager::LoadEllipsoid(
+        const sdf::Geometry& data,
+        double& scale_x,
+        double& scale_y,
+        double& scale_z) {
+
+    std::cout << "ELLIPSOID geometry" << std::endl;
+
+    auto shape = data.EllipsoidShape()->Radii();
+
+    scale_x = shape.X() * 2;
+    scale_y = shape.Y() * 2;
+    scale_z = shape.Z() * 2;
+
+    return mesh_manager->MeshByName(UNIT_SPHERE_TEXT);
+}
+
+const ignition::common::Mesh* RGLServerPluginManager::LoadMesh(
+        const sdf::Geometry& data,
+        double& scale_x,
+        double& scale_y,
+        double& scale_z) {
+
+    std::cout << "MESH geometry" << std::endl;
+
+    auto scale = data.MeshShape()->Scale();
+
+    scale_x = scale.X();
+    scale_y = scale.Y();
+    scale_z = scale.Z();
+
+    return mesh_manager->MeshByName(
+            ignition::gazebo::asFullPath(
+                    data.MeshShape()->Uri(),
+                    data.MeshShape()->FilePath()));
+}
+
+const ignition::common::Mesh* RGLServerPluginManager::LoadPlane(
+        const sdf::Geometry& data,
+        double& scale_x,
+        double& scale_y) {
+
+    std::cout << "PLANE geometry" << std::endl;
+
+    auto size = data.PlaneShape()->Size();
+
+    scale_x = size.X() * 2;
+    scale_y = size.Y() * 2;
+
+    return mesh_manager->MeshByName(UNIT_PLANE_TEXT);
+}
+
+const ignition::common::Mesh* RGLServerPluginManager::LoadSphere(
+        const sdf::Geometry& data,
+        double& scale_x,
+        double& scale_y,
+        double& scale_z) {
+
+    std::cout << "SPHERE geometry" << std::endl;
+
+    auto radius = data.SphereShape()->Radius();
+
+    scale_x = radius * 2;
+    scale_y = radius * 2;
+    scale_z = radius * 2;
+
+    return mesh_manager->MeshByName(UNIT_SPHERE_TEXT);
+}
+
+const ignition::common::Mesh* RGLServerPluginManager::GetMeshPointer(
+        const sdf::Geometry& data,
+        double& scale_x,
+        double& scale_y,
+        double& scale_z) {
+
+    const ignition::common::Mesh* mesh_pointer;
+
+    switch (data.Type()) {
+        case sdf::GeometryType::BOX:
+            mesh_pointer = LoadBox(data, scale_x, scale_y, scale_z);
+            break;
+        case sdf::GeometryType::CAPSULE:
+            mesh_pointer = LoadCapsule(data);
+            break;
+        case sdf::GeometryType::CYLINDER:
+            mesh_pointer = LoadCylinder(data, scale_x, scale_y, scale_z);
+            break;
+        case sdf::GeometryType::ELLIPSOID:
+            mesh_pointer = LoadEllipsoid(data, scale_x, scale_y, scale_z);
+            break;
+        case sdf::GeometryType::EMPTY:
+            ignerr << "EMPTY geometry" << std::endl;
+            return nullptr;
+        case sdf::GeometryType::MESH:
+            mesh_pointer = LoadMesh(data, scale_x, scale_y, scale_z);
+            break;
+        case sdf::GeometryType::PLANE:
+            mesh_pointer = LoadPlane(data, scale_x, scale_y);
+            break;
+        case sdf::GeometryType::SPHERE:
+            mesh_pointer = LoadSphere(data, scale_x, scale_y, scale_z);
+            break;
+        default:
+            ignerr << "geometry type not supported yet" << std::endl;
+            return nullptr;
+    }
+    if (nullptr == mesh_pointer) {
+        std::cout << "Error in importing mesh - it will not be loaded to RGL\n";
+    }
+    return mesh_pointer;
+}
+
+bool RGLServerPluginManager::GetMesh(
+        const sdf::Geometry& data,
+        size_t& vertex_count,
+        size_t& triangle_count,
+        std::vector<rgl_vec3f>& vertices,
+        std::vector<rgl_vec3i>& triangles) {
+
+    double scale_x = 1;
+    double scale_y = 1;
+    double scale_z = 1;
+
+    auto mesh_common = GetMeshPointer(data, scale_x, scale_y, scale_z);
+    if (nullptr == mesh_common) return false;
+
+    vertex_count = mesh_common->VertexCount();
+    triangle_count = mesh_common->IndexCount() / 3;
+
+    vertices.resize(vertex_count);
+
+    double* vertices_double_arr = nullptr;
+    int* triangles_arr = nullptr;
+
+    mesh_common->FillArrays(&vertices_double_arr, &triangles_arr);
+
+    auto* beginning = reinterpret_cast<rgl_vec3i*>(triangles_arr);
+    auto* end = reinterpret_cast<rgl_vec3i*>(triangles_arr + sizeof(rgl_vec3i) * triangle_count);
+    triangles.assign(beginning, end);
+
+    int v_index = 0;
+    for (int i = 0; i < vertex_count; ++i) {
+        for (int j = 0; j < 3; ++j) {
+            auto vertex_coord = vertices_double_arr[v_index];
+            switch (j) {
+                case 0:
+                    vertex_coord *= scale_x;
+                    break;
+                case 1:
+                    vertex_coord *= scale_y;
+                    break;
+                case 2:
+                    vertex_coord *= scale_z;
+                    break;
+                default:;
+            }
+            vertices[i].value[j] = RoundFloat(static_cast<float>(vertex_coord));
+            v_index++;
+        }
+    }
+
+    /// Debug printf
+//    int count = 0;
+//    std::cout << "vertices: ";
+//    for (int i = 0; i < vertex_count; ++i) {
+//        std::cout << count << ": ";
+//        count++;
+//        for (int j = 0; j < 3; ++j) {
+//            std::cout << vertices[i].value[j] << ",";
+//        }
+//        std::cout << " ";
+//    }
+//    std::cout << "\n";
+//
+//    std::cout << "triangles: ";
+//    for (int i = 0; i < triangle_count; ++i) {
+//        for (int j = 0; j < 3; ++j) {
+//            std::cout << (*triangles)[i].value[j] << ",";
+//        }
+//        std::cout << " ";
+//    }
+//    std::cout << "\n";
+
+    free(vertices_double_arr);
+    return true;
+}
+
+bool RGLServerPluginManager::LoadMeshToRGL(
+        rgl_mesh_t* new_mesh,
+        const sdf::Geometry& data) {
+
+    size_t vertex_count;
+    size_t triangle_count;
+    std::vector<rgl_vec3f> vertices;
+    std::vector<rgl_vec3i> triangles;
+
+    if (!GetMesh(data, vertex_count, triangle_count, vertices, triangles)) return false;
+    RGL_CHECK(rgl_mesh_create(new_mesh, vertices.data(), vertex_count, triangles.data(), triangle_count));
+
+    return true;
+}
diff --git a/RGLServerPlugin/src/RGLServerPluginInstance.cc b/RGLServerPlugin/src/RGLServerPluginInstance.cc
new file mode 100644
index 0000000..f59f936
--- /dev/null
+++ b/RGLServerPlugin/src/RGLServerPluginInstance.cc
@@ -0,0 +1,44 @@
+#include "RGLServerPluginInstance.hh"
+
+#include <ignition/gazebo/components/SystemPluginInfo.hh>
+#include <ignition/plugin/Register.hh>
+
+IGNITION_ADD_PLUGIN(
+        rgl::RGLServerPluginInstance,
+        ignition::gazebo::System,
+        rgl::RGLServerPluginInstance::ISystemConfigure,
+        rgl::RGLServerPluginInstance::ISystemPreUpdate,
+        rgl::RGLServerPluginInstance::ISystemPostUpdate
+)
+
+using namespace rgl;
+using namespace std::placeholders;
+
+RGLServerPluginInstance::RGLServerPluginInstance() = default;
+
+RGLServerPluginInstance::~RGLServerPluginInstance() = default;
+
+void RGLServerPluginInstance::Configure(
+        const ignition::gazebo::Entity& entity,
+        const std::shared_ptr<const sdf::Element>&,
+        ignition::gazebo::EntityComponentManager& ecm,
+        ignition::gazebo::EventManager& evm) {
+
+    CreateLidar(entity);
+}
+
+void RGLServerPluginInstance::PreUpdate(
+        const ignition::gazebo::UpdateInfo& info,
+        ignition::gazebo::EntityComponentManager& ecm) {
+
+    ecm.EachRemoved<>(std::bind(&RGLServerPluginInstance::CheckLidarExists, this, _1));
+
+    RayTrace(ecm, info.simTime, info.paused);
+}
+
+void RGLServerPluginInstance::PostUpdate(
+        const ignition::gazebo::UpdateInfo& info,
+        const ignition::gazebo::EntityComponentManager& ecm) {
+
+    UpdateLidarPose(ecm);
+}
diff --git a/RGLServerPlugin/src/RGLServerPluginManager.cc b/RGLServerPlugin/src/RGLServerPluginManager.cc
new file mode 100644
index 0000000..67cf63e
--- /dev/null
+++ b/RGLServerPlugin/src/RGLServerPluginManager.cc
@@ -0,0 +1,56 @@
+#include "RGLServerPluginManager.hh"
+
+#include <ignition/gazebo/components/SystemPluginInfo.hh>
+#include <ignition/plugin/Register.hh>
+
+IGNITION_ADD_PLUGIN(
+        rgl::RGLServerPluginManager,
+        ignition::gazebo::System,
+        rgl::RGLServerPluginManager::ISystemConfigure,
+        rgl::RGLServerPluginManager::ISystemPreUpdate,
+        rgl::RGLServerPluginManager::ISystemPostUpdate
+)
+
+using namespace rgl;
+using namespace std::placeholders;
+
+RGLServerPluginManager::RGLServerPluginManager() = default;
+
+RGLServerPluginManager::~RGLServerPluginManager() = default;
+
+void RGLServerPluginManager::Configure(
+        const ignition::gazebo::Entity& entity,
+        const std::shared_ptr<const sdf::Element>&,
+        ignition::gazebo::EntityComponentManager& ecm,
+        ignition::gazebo::EventManager& evm) {
+
+    ecm.Each<>([&](const ignition::gazebo::Entity& entity)-> bool {
+                return CheckNewLidars(entity, ecm);});
+
+    ecm.Each<ignition::gazebo::components::Visual, ignition::gazebo::components::Geometry>
+            (std::bind(&RGLServerPluginManager::LoadEntityToRGL, this, _1, _2, _3));
+}
+
+void RGLServerPluginManager::PreUpdate(
+        const ignition::gazebo::UpdateInfo& info,
+        ignition::gazebo::EntityComponentManager& ecm) {
+}
+
+void RGLServerPluginManager::PostUpdate(
+        const ignition::gazebo::UpdateInfo& info,
+        const ignition::gazebo::EntityComponentManager& ecm) {
+
+    ecm.EachNew<>([&](const ignition::gazebo::Entity& entity)-> bool {
+        return CheckNewLidars(entity, ecm);});
+
+    ecm.EachNew<ignition::gazebo::components::Visual, ignition::gazebo::components::Geometry>
+            (std::bind(&RGLServerPluginManager::LoadEntityToRGL, this, _1, _2, _3));
+
+    ecm.EachRemoved<>([&](const ignition::gazebo::Entity& entity)-> bool {
+        return CheckRemovedLidars(entity, ecm);});
+
+    ecm.EachRemoved<ignition::gazebo::components::Visual, ignition::gazebo::components::Geometry>
+            (std::bind(&RGLServerPluginManager::RemoveEntityFromRGL, this, _1, _2, _3));
+
+    UpdateRGLEntityPose(ecm);
+}
diff --git a/RGLServerPlugin/src/Scene.cc b/RGLServerPlugin/src/Scene.cc
new file mode 100644
index 0000000..d880710
--- /dev/null
+++ b/RGLServerPlugin/src/Scene.cc
@@ -0,0 +1,94 @@
+#include "RGLServerPluginManager.hh"
+
+#include <ignition/gazebo/components/SystemPluginInfo.hh>
+
+#define RGLINSTANCE "rgl::RGLServerPluginInstance"
+
+using namespace rgl;
+
+#pragma clang diagnostic push
+#pragma ide diagnostic ignored "ConstantFunctionResult"
+
+// always returns true, because the ecm will stop if it encounters false
+bool RGLServerPluginManager::CheckNewLidars(
+        ignition::gazebo::Entity entity,
+        const ignition::gazebo::EntityComponentManager& ecm) {
+
+    auto data = ecm.ComponentData<ignition::gazebo::components::SystemPluginInfo>(entity);
+    if (data == std::nullopt) return true;
+    auto plugins = data->plugins();
+    for (const auto& plugin : plugins) {
+        if (plugin.name() == RGLINSTANCE) {
+            gazebo_lidars.insert(entity);
+            for (auto descendant: ecm.Descendants(entity)) {
+                lidar_ignore.insert(descendant);
+            }
+        }
+    }
+    return true;
+}
+
+// always returns true, because the ecm will stop if it encounters false
+bool RGLServerPluginManager::CheckRemovedLidars(
+        ignition::gazebo::Entity entity,
+        const ignition::gazebo::EntityComponentManager& ecm) {
+    if (!gazebo_lidars.contains(entity)) {
+        return true;
+    }
+    for (auto descendant: ecm.Descendants(entity)) {
+        lidar_ignore.erase(descendant);
+    }
+    gazebo_lidars.erase(entity);
+    return true;
+}
+
+// always returns true, because the ecm will stop if it encounters false
+bool RGLServerPluginManager::LoadEntityToRGL(
+        const ignition::gazebo::Entity& entity,
+        const ignition::gazebo::components::Visual*,
+        const ignition::gazebo::components::Geometry* geometry) {
+    if (lidar_ignore.contains(entity)) return true;
+    if (entities_in_rgl.contains(entity)) return true;
+    rgl_mesh_t new_mesh;
+    if (!LoadMeshToRGL(&new_mesh, geometry->Data())) return true;
+    rgl_entity_t new_rgl_entity;
+    RGL_CHECK(rgl_entity_create(&new_rgl_entity, nullptr, new_mesh));
+    entities_in_rgl.insert(std::make_pair(entity, std::make_pair(new_rgl_entity, new_mesh)));
+    ignmsg << "Added entity: " << entity << std::endl;
+    return true;
+}
+
+// always returns true, because the ecm will stop if it encounters false
+bool RGLServerPluginManager::RemoveEntityFromRGL(
+        const ignition::gazebo::Entity& entity,
+        const ignition::gazebo::components::Visual*,
+        const ignition::gazebo::components::Geometry*) {
+    if (lidar_ignore.contains(entity)) {
+        lidar_ignore.erase(entity);
+        return true;
+    }
+    if (!entities_in_rgl.contains(entity)) return true;
+    RGL_CHECK(rgl_entity_destroy(entities_in_rgl.at(entity).first));
+    RGL_CHECK(rgl_mesh_destroy(entities_in_rgl.at(entity).second));
+    entities_in_rgl.erase(entity);
+    ignmsg << "Removed entity: " << entity << std::endl;
+    return true;
+}
+#pragma clang diagnostic pop
+
+void RGLServerPluginManager::UpdateRGLEntityPose(const ignition::gazebo::EntityComponentManager& ecm) {
+    for (auto entity: entities_in_rgl) {
+        auto rgl_matrix = GetRglMatrix(entity.first, ecm);
+        RGL_CHECK(rgl_entity_set_pose(entity.second.first, &rgl_matrix));
+
+        /// Debug printf
+//        ignmsg << "entity: " << entity.first << " rgl_matrix: " << std::endl;
+//        for (int i = 0; i < 3; ++i) {
+//            for (int j = 0; j < 4; ++j) {
+//                ignmsg << rgl_matrix.value[i][j] << " ";
+//            }
+//            ignmsg << std::endl;
+//        }
+
+    }
+}
diff --git a/RGLServerPlugin/src/Utils.cc b/RGLServerPlugin/src/Utils.cc
new file mode 100644
index 0000000..d708e61
--- /dev/null
+++ b/RGLServerPlugin/src/Utils.cc
@@ -0,0 +1,59 @@
+#include "RGLServerPluginManager.hh"
+
+#include <ignition/gazebo/components/Pose.hh>
+
+#define ROUND_BY_VALUE 10000
+
+using namespace rgl;
+
+ignition::math::Pose3<double> RGLServerPluginManager::FindWorldPose(
+        const ignition::gazebo::Entity& entity,
+        const ignition::gazebo::EntityComponentManager& ecm) {
+
+    auto local_pose = ecm.Component<ignition::gazebo::components::Pose>(entity);
+    if (nullptr == local_pose) {
+        std::cout << "pose data missing - using default pose (0, 0, 0, 0, 0, 0)\n";
+        return ignition::math::Pose3d::Zero;
+    }
+    auto world_pose = local_pose->Data();
+
+    ignition::gazebo::Entity this_entity = entity;
+    ignition::gazebo::Entity parent;
+
+    while ((parent = ecm.ParentEntity(this_entity)) != WORLD_ENTITY_ID) {
+        auto parent_pose = ecm.Component<ignition::gazebo::components::Pose>(parent);
+        if (nullptr == parent_pose) {
+            std::cout << "pose data missing - using default pose (0, 0, 0, 0, 0, 0)\n";
+            return ignition::math::Pose3d::Zero;
+        }
+        world_pose += parent_pose->Data();
+        this_entity = parent;
+    }
+
+    return world_pose;
+}
+
+rgl_mat3x4f RGLServerPluginManager::GetRglMatrix(
+        ignition::gazebo::Entity entity,
+        const ignition::gazebo::EntityComponentManager& ecm) {
+
+    auto gazebo_matrix = ignition::math::Matrix4<double>(FindWorldPose(entity, ecm));
+
+    /// Debug printf
+//    ignmsg << "entity: " << entity << " gazebo_matrix: " << gazebo_matrix << std::endl;
+
+    rgl_mat3x4f rgl_matrix;
+
+    for (int i = 0; i < 3; ++i) {
+        for (int j = 0; j < 4; ++j) {
+            rgl_matrix.value[i][j] = static_cast<float>(gazebo_matrix(i, j));
+        }
+    }
+
+    return rgl_matrix;
+}
+
+
+float RGLServerPluginManager::RoundFloat(float value) {
+    return std::roundf(value * ROUND_BY_VALUE) / ROUND_BY_VALUE;
+}
diff --git a/test_world/actor_world.sdf b/test_world/actor_world.sdf
new file mode 100644
index 0000000..b4a97a7
--- /dev/null
+++ b/test_world/actor_world.sdf
@@ -0,0 +1,240 @@
+<sdf version='1.9'>
+  <world name='actors'>
+    <plugin
+       filename="RGLServerPluginManager"
+       name="rgl::RGLServerPluginManager">
+    </plugin>
+    <plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
+    <plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
+    <plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
+
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+    <model name='ground_plane'>
+      <static>true</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode/>
+            </friction>
+            <bounce/>
+            <contact/>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+        <pose>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose>0 0 0 0 -0 0</pose>
+          <mass>1</mass>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <enable_wind>false</enable_wind>
+      </link>
+      <pose>0 0 0 0 -0 0</pose>
+      <self_collide>false</self_collide>
+    </model>
+    <model name='box'>
+        <plugin
+            filename="RGLServerPluginInstance"
+            name="rgl::RGLServerPluginInstance">
+        </plugin>
+      <pose>0 0 0.7 0 -0 0</pose>
+      <link name='box_link'>
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+          <mass>1</mass>
+          <pose>0 0 0 0 -0 0</pose>
+        </inertial>
+        <collision name='box_collision'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode/>
+            </friction>
+            <bounce/>
+            <contact/>
+          </surface>
+        </collision>
+        <visual name='box_visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.3 0.3 0.3 1</diffuse>
+            <specular>0.3 0.5 0.3 1</specular>
+          </material>
+        </visual>
+        <pose>0 0 0 0 -0 0</pose>
+        <enable_wind>false</enable_wind>
+      </link>
+      <static>false</static>
+      <self_collide>false</self_collide>
+    </model>
+    <model name='box2'>
+            <plugin
+                filename="RGLServerPluginInstance"
+                name="rgl::RGLServerPluginInstance">
+            </plugin>
+          <pose>0 0 5 0 -0 0</pose>
+          <link name='box_link'>
+            <inertial>
+              <inertia>
+                <ixx>1</ixx>
+                <ixy>0</ixy>
+                <ixz>0</ixz>
+                <iyy>1</iyy>
+                <iyz>0</iyz>
+                <izz>1</izz>
+              </inertia>
+              <mass>1</mass>
+              <pose>0 0 0 0 -0 0</pose>
+            </inertial>
+            <collision name='box_collision'>
+              <geometry>
+                          <box>
+                            <size>1 1 1</size>
+                          </box>
+              </geometry>
+              <surface>
+                <friction>
+                  <ode/>
+                </friction>
+                <bounce/>
+                <contact/>
+              </surface>
+            </collision>
+            <visual name='box_visual'>
+              <geometry>
+                          <box>
+                            <size>1 1 1</size>
+                          </box>
+              </geometry>
+              <material>
+                <ambient>0.3 0.3 0.3 1</ambient>
+                <diffuse>0.3 0.3 0.3 1</diffuse>
+                <specular>0.3 0.5 0.3 1</specular>
+              </material>
+            </visual>
+            <pose>0 0 0 0 -0 0</pose>
+            <enable_wind>false</enable_wind>
+          </link>
+          <static>false</static>
+          <self_collide>false</self_collide>
+        </model>
+    <light name='sun' type='directional'>
+      <pose>0 0 10 0 -0 0</pose>
+      <cast_shadows>true</cast_shadows>
+      <intensity>1</intensity>
+      <direction>-0.5 0.1 -0.9</direction>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.01</linear>
+        <constant>0.90000000000000002</constant>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name="minecartengine">
+        <pose> 0 0 10 0 -0 0</pose>
+        <link name="base_link">
+          <collision name="collision">
+            <geometry>
+              <mesh>
+                <uri>meshes/minecartengine.dae</uri>
+                <scale>20.0 20.0 20.0</scale>
+              </mesh>
+            </geometry>
+          </collision>
+          <visual name= "MineCartEngine_visual">
+            <geometry>
+              <mesh>
+                <uri>meshes/minecartengine.dae</uri>
+                <scale>20.0 20.0 20.0</scale>
+                <submesh>
+                  <name>MineCartEngine</name>
+                  <center>false</center>
+                </submesh>
+              </mesh>
+            </geometry>
+            <material>
+              <diffuse>1.0 1.0 1.0</diffuse>
+              <specular>1.0 1.0 1.0</specular>
+              <pbr>
+                <metal>
+                  <albedo_map>materials/textures/MineCartEngine_Albedo.png</albedo_map>
+                  <metalness_map>materials/textures/MineCartEngine_Metalness.png</metalness_map>
+                  <roughness_map>materials/textures/MineCartEngine_Roughness.png</roughness_map>
+                </metal>
+              </pbr>
+              <!-- fallback to script if no PBR support-->
+              <script>
+                <uri>materials/scripts/</uri>
+                <uri>materials/textures/</uri>
+                <name>UrbanTile/MineCartEngine_Diffuse</name>
+              </script>
+            </material>
+          </visual>
+        </link>
+      </model>
+  </world>
+</sdf>
diff --git a/test_world/materials/scripts/model.material b/test_world/materials/scripts/model.material
new file mode 100644
index 0000000..5fc9691
--- /dev/null
+++ b/test_world/materials/scripts/model.material
@@ -0,0 +1,27 @@
+
+material UrbanTile/MineCartEngine_Diffuse
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture MineCartEngine_Albedo.png
+        }
+      }
+    }
+  }
+material UrbanTile/MineCart_Diffuse
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture MineCart_Albedo.png
+        }
+      }
+    }
+  }
\ No newline at end of file
diff --git a/test_world/materials/textures/MineCartEngine_Albedo.png b/test_world/materials/textures/MineCartEngine_Albedo.png
new file mode 100644
index 0000000..4fcce37
Binary files /dev/null and b/test_world/materials/textures/MineCartEngine_Albedo.png differ
diff --git a/test_world/materials/textures/MineCartEngine_Metalness.png b/test_world/materials/textures/MineCartEngine_Metalness.png
new file mode 100644
index 0000000..484da25
Binary files /dev/null and b/test_world/materials/textures/MineCartEngine_Metalness.png differ
diff --git a/test_world/materials/textures/MineCartEngine_Roughness.png b/test_world/materials/textures/MineCartEngine_Roughness.png
new file mode 100644
index 0000000..64142a9
Binary files /dev/null and b/test_world/materials/textures/MineCartEngine_Roughness.png differ
diff --git a/test_world/meshes/minecartengine.dae b/test_world/meshes/minecartengine.dae
new file mode 100644
index 0000000..2edfabb
--- /dev/null
+++ b/test_world/meshes/minecartengine.dae
@@ -0,0 +1,18648 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author/>
+      <authoring_tool>FBX COLLADA exporter</authoring_tool>
+      <comments/>
+    </contributor>
+    <created>2020-08-31T21:17:01Z</created>
+    <keywords/>
+    <modified>2020-08-31T21:17:01Z</modified>
+    <revision/>
+    <subject/>
+    <title/>
+    <unit meter="0.10000" name="meter"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="MapFBXASC032FBXASC0356-image" name="MapFBXASC032FBXASC0356">
+      <init_from>../materials/textures/MineCartEngine_Albedo.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="MineCartEngine_ncl1_1" name="MineCartEngine_ncl1_1">
+      <instance_effect url="#MineCartEngine_ncl1_1-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="MineCartEngine_ncl1_1-fx" name="MineCartEngine_ncl1_1">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.588235  0.588235 0.588235 1.000000</color>
+            </ambient>
+            <diffuse>
+              <texture texture="MapFBXASC032FBXASC0356-image" texcoord="CHANNEL0">
+                <extra>
+                  <technique profile="MAYA">
+                    <wrapU sid="wrapU0">TRUE</wrapU>
+                    <wrapV sid="wrapV0">TRUE</wrapV>
+                    <blend_mode>ADD</blend_mode>
+                  </technique>
+                </extra>
+              </texture>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="MineCartEngine-lib" name="MineCartEngineMesh">
+      <mesh>
+        <source id="MineCartEngine-POSITION">
+          <float_array id="MineCartEngine-POSITION-array" count="6678">
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+          <technique_common>
+            <accessor source="#MineCartEngine-Matrix-animation-output-transform-array" count="101" stride="16">
+              <param type="float4x4"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="MineCartEngine-Interpolations">
+          <Name_array id="MineCartEngine-Interpolations-array" count="101">
+ LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR</Name_array>
+          <technique_common>
+            <accessor source="#MineCartEngine-Interpolations-array" count="101">
+              <param type="name"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <sampler id="MineCartEngine-Matrix-animation-transform">
+          <input semantic="INPUT" source="#MineCartEngine-Matrix-animation-input"/>
+          <input semantic="OUTPUT" source="#MineCartEngine-Matrix-animation-output-transform"/>
+          <input semantic="INTERPOLATION" source="#MineCartEngine-Interpolations"/>
+        </sampler>
+        <channel source="#MineCartEngine-Matrix-animation-transform" target="MineCartEngine/matrix"/>
+      </animation>
+    </animation>
+  </library_animations>
+  <library_visual_scenes>
+    <visual_scene id="minecartengine" name="minecartengine">
+      <node name="MineCartEngine" id="MineCartEngine" sid="MineCartEngine">
+        <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_geometry url="#MineCartEngine-lib">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="MineCartEngine_ncl1_1" target="#MineCartEngine_ncl1_1"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="FCOLLADA">
+            <visibility>1.000000</visibility>
+          </technique>
+        </extra>
+      </node>
+      <extra>
+        <technique profile="MAX3D">
+          <frame_rate>30.000000</frame_rate>
+        </technique>
+        <technique profile="FCOLLADA">
+          <start_time>0.000000</start_time>
+          <end_time>3.333333</end_time>
+        </technique>
+      </extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#minecartengine"/>
+  </scene>
+</COLLADA>
diff --git a/test_world/model.config b/test_world/model.config
new file mode 100644
index 0000000..7e19b2b
--- /dev/null
+++ b/test_world/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>Mine Cart Engine</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole@openrobotics.org</email>
+  </author>
+
+  <description>
+    A mine cart engine.
+  </description>
+</model>
diff --git a/test_world/model.sdf b/test_world/model.sdf
new file mode 100644
index 0000000..2896fc3
--- /dev/null
+++ b/test_world/model.sdf
@@ -0,0 +1,44 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="minecartengine">
+    <static>true</static>
+    <link name="base_link">
+      <collision name="collision">
+        <geometry>
+          <mesh>
+            <uri>meshes/minecartengine.dae</uri>
+            <scale>1.0 1.0 1.0</scale>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name= "MineCartEngine_visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/minecartengine.dae</uri>
+            <submesh>
+              <name>MineCartEngine</name>
+              <center>false</center>
+            </submesh>
+          </mesh>
+        </geometry>
+        <material>
+          <diffuse>1.0 1.0 1.0</diffuse>
+          <specular>1.0 1.0 1.0</specular>
+          <pbr>
+            <metal>
+              <albedo_map>materials/textures/MineCartEngine_Albedo.png</albedo_map>
+              <metalness_map>materials/textures/MineCartEngine_Metalness.png</metalness_map>
+              <roughness_map>materials/textures/MineCartEngine_Roughness.png</roughness_map>
+            </metal>
+          </pbr>
+          <!-- fallback to script if no PBR support-->
+          <script>
+            <uri>materials/scripts/</uri>
+            <uri>materials/textures/</uri>
+            <name>UrbanTile/MineCartEngine_Diffuse</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/test_world/test_world.sdf b/test_world/test_world.sdf
new file mode 100644
index 0000000..0c85c6b
--- /dev/null
+++ b/test_world/test_world.sdf
@@ -0,0 +1,70 @@
+<sdf version='1.9'>
+  <world name='default'>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+    <model name='cylinder'>
+      <pose>-0.374767 0.30927 0.5 0 -0 0</pose>
+      <link name='cylinder_link'>
+        <inertial>
+          <inertia>
+            <ixx>0.14580000000000001</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.14580000000000001</iyy>
+            <iyz>0</iyz>
+            <izz>0.125</izz>
+          </inertia>
+          <mass>1</mass>
+          <pose>0 0 0 0 -0 0</pose>
+        </inertial>
+        <collision name='cylinder_collision'>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <surface>
+            <friction>
+              <ode/>
+            </friction>
+            <bounce/>
+            <contact/>
+          </surface>
+        </collision>
+        <visual name='cylinder_visual'>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0.3 0.3 0.3 1</ambient>
+            <diffuse>0.7 0.7 0.7 1</diffuse>
+            <specular>1 1 1 1</specular>
+          </material>
+        </visual>
+        <pose>0 0 0 0 -0 0</pose>
+        <enable_wind>false</enable_wind>
+      </link>
+      <static>false</static>
+      <self_collide>false</self_collide>
+    </model>
+    <plugin
+        filename="RGLGazeboPlugin"
+        name="rgl::RGLGazeboPlugin">
+    </plugin>
+  </world>
+</sdf>