diff --git a/README b/README
index 12d2f4f1ad43d1d224796a136914e948d704f46c..fa51ba0f7d9855cc1101f1f66b67a8259b8d4593 100644
--- a/README
+++ b/README
@@ -11,4 +11,6 @@ terminal2: roslaunch simulation_control px4.launch fcu_url:="udp://:14550@127.0.
 
 terminal3: roslaunch simulation_control simulation_control.launch 
 
+you might want to delete  line 439 - 482 in the world file if gazebo doesnt startup, its just house in the map 
+
 have fun
diff --git a/src/models/apriltag/model.config b/src/models/apriltag/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..57c92318377c63ad0c356abf3eaad4fdd86338e1
--- /dev/null
+++ b/src/models/apriltag/model.config
@@ -0,0 +1,9 @@
+<model> 
+<name>AprilTag 36h11 0</name> 
+<version>1.0</version> 
+<sdf version="1.4">model.sdf</sdf>
+
+<description>
+  April Tag 36h11 tag 0.
+</description>
+</model>
diff --git a/src/models/apriltag/model.sdf b/src/models/apriltag/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..ab8c4b61390225083ebe2864a65342b62a0e7de0
--- /dev/null
+++ b/src/models/apriltag/model.sdf
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<sdf version="1.4">
+<model name="apriltag">
+  <static>false</static>
+    <link name="link">
+     <inertial>
+        <mass>20</mass>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>1 1 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+        <box>
+            <size>1 1 0.5</size>
+
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <name>AprilTag/Image</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/src/scripts/descend_on_object_server.py b/src/scripts/descend_on_object_server.py
index 64ee16050b49816fb03f0b32debce6f4ba893558..62c87640ed0aa2781b1ca71f309aa5e0d5620d66 100755
--- a/src/scripts/descend_on_object_server.py
+++ b/src/scripts/descend_on_object_server.py
@@ -2,7 +2,6 @@
 import rospy
 import actionlib
 import simulation_control.msg
-#from apriltags2_ros.msg import AprilTagDetectionArray
 from geometry_msgs.msg import PoseStamped, Point
 from std_msgs.msg import Bool, String
 
diff --git a/src/scripts/detect_object_server.py b/src/scripts/detect_object_server.py
index 5dbf867e55569ce1afcfd29b661a0d2376908798..b6359a9af1d10430e065fe87ebcedf21692c5dc6 100755
--- a/src/scripts/detect_object_server.py
+++ b/src/scripts/detect_object_server.py
@@ -2,7 +2,6 @@
 import rospy
 import actionlib
 import simulation_control.msg
-from apriltags2_ros.msg import AprilTagDetectionArray
 
 from geometry_msgs.msg import PoseStamped, Point
 class detect_object_server():