diff --git a/models/dave_robot_models/launch/rexrov.launch.py b/models/dave_robot_models/launch/rexrov.launch.py
index 59198c60..39e00c0d 100644
--- a/models/dave_robot_models/launch/rexrov.launch.py
+++ b/models/dave_robot_models/launch/rexrov.launch.py
@@ -16,14 +16,8 @@ def generate_launch_description():
     ]
 
     rexrov_arguments = (
-        [
-            f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double"
-            for joint in thruster_joints
-        ]
-        + [
-            f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double"
-            for joint in thruster_joints
-        ]
+        [f"{joint}/cmd_thrust@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
+        + [f"{joint}/ang_vel@std_msgs/msg/Float64@gz.msgs.Double" for joint in thruster_joints]
         + [
             f"{joint}/enable_deadband@std_msgs/msg/Bool@gz.msgs.Boolean"
             for joint in thruster_joints
diff --git a/models/dave_worlds/worlds/dave_Santorini.world b/models/dave_worlds/worlds/dave_Santorini.world
index 7d172e8a..f6704ceb 100644
--- a/models/dave_worlds/worlds/dave_Santorini.world
+++ b/models/dave_worlds/worlds/dave_Santorini.world
@@ -43,6 +43,14 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      </plugin>
+    <plugin
+      filename="gz-sim-dvl-system"
+      name="gz::sim::systems::DopplerVelocityLogSystem">
+    </plugin>
 
     <!-- Origin placed at the center of the tile -->
     <spherical_coordinates>
diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/dave_worlds/worlds/dave_bimanual_example.world
index 56287925..b6cc0cc2 100644
--- a/models/dave_worlds/worlds/dave_bimanual_example.world
+++ b/models/dave_worlds/worlds/dave_bimanual_example.world
@@ -36,6 +36,14 @@
 		<plugin filename="gz-sim-contact-system"
 				name="gz::sim::systems::Contact">
 		</plugin>
+		<plugin
+			filename="gz-sim-sensors-system"
+			name="gz::sim::systems::Sensors">
+			</plugin>
+		<plugin
+			filename="gz-sim-dvl-system"
+			name="gz::sim::systems::DopplerVelocityLogSystem">
+		</plugin>
 		<!-- Origin placed somewhere in the middle of the North Sea -->
 		<spherical_coordinates>
 			<latitude_deg>56.71897669633431</latitude_deg>
diff --git a/models/dave_worlds/worlds/dave_electrical_mating.world b/models/dave_worlds/worlds/dave_electrical_mating.world
index 18434f24..b724b5a2 100644
--- a/models/dave_worlds/worlds/dave_electrical_mating.world
+++ b/models/dave_worlds/worlds/dave_electrical_mating.world
@@ -34,6 +34,14 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      </plugin>
+    <plugin
+      filename="gz-sim-dvl-system"
+      name="gz::sim::systems::DopplerVelocityLogSystem">
+    </plugin>
 
     <!-- Origin placed somewhere in the middle of the North Sea  -->
     <spherical_coordinates>
diff --git a/models/dave_worlds/worlds/dave_graded_seabed.world b/models/dave_worlds/worlds/dave_graded_seabed.world
index 1b4690a8..557573bb 100644
--- a/models/dave_worlds/worlds/dave_graded_seabed.world
+++ b/models/dave_worlds/worlds/dave_graded_seabed.world
@@ -41,6 +41,14 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      </plugin>
+    <plugin
+      filename="gz-sim-dvl-system"
+      name="gz::sim::systems::DopplerVelocityLogSystem">
+    </plugin>
 
     <!-- Origin placed somewhere in the middle of the North Sea  -->
     <spherical_coordinates>
diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index dde9496d..c4fccf98 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -36,7 +36,14 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
-
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      </plugin>
+    <plugin
+      filename="gz-sim-dvl-system"
+      name="gz::sim::systems::DopplerVelocityLogSystem">
+    </plugin>
 
     <!-- Origin placed somewhere in the middle of the North Sea  -->
     <spherical_coordinates>
diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index c1c293e0..724914e7 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -43,6 +43,14 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      </plugin>
+    <plugin
+      filename="gz-sim-dvl-system"
+      name="gz::sim::systems::DopplerVelocityLogSystem">
+    </plugin>
 
     <!-- Origin placed somewhere in the middle of the North Sea  -->
     <spherical_coordinates>
diff --git a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
index 88beb352..8bccf334 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
@@ -34,6 +34,14 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      </plugin>
+    <plugin
+      filename="gz-sim-dvl-system"
+      name="gz::sim::systems::DopplerVelocityLogSystem">
+    </plugin>
     <scene>
       <ambient>0.01 0.01 0.01 1.0</ambient>
       <sky>
diff --git a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
index 1fd5c19f..215c309b 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
@@ -43,7 +43,14 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
-
+		<plugin
+			filename="gz-sim-sensors-system"
+			name="gz::sim::systems::Sensors">
+    	</plugin>
+		<plugin
+			filename="gz-sim-dvl-system"
+			name="gz::sim::systems::DopplerVelocityLogSystem">
+		</plugin>
     <!-- Origin placed somewhere in the middle of the North Sea  -->
     <spherical_coordinates>
       <latitude_deg>56.71897669633431</latitude_deg>
diff --git a/models/dave_worlds/worlds/dave_plug_and_socket.world b/models/dave_worlds/worlds/dave_plug_and_socket.world
index bdb3b1f5..c380a757 100644
--- a/models/dave_worlds/worlds/dave_plug_and_socket.world
+++ b/models/dave_worlds/worlds/dave_plug_and_socket.world
@@ -34,6 +34,14 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      </plugin>
+    <plugin
+      filename="gz-sim-dvl-system"
+      name="gz::sim::systems::DopplerVelocityLogSystem">
+    </plugin>
 
     <!-- Origin placed somewhere in the middle of the North Sea  -->
     <spherical_coordinates>