diff --git a/CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/launch/spawn_model.launch.py b/CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/launch/spawn_model.launch.py
index bc96c48aa..c02834f25 100755
--- a/CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/launch/spawn_model.launch.py
+++ b/CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/launch/spawn_model.launch.py
@@ -5,8 +5,12 @@
 from launch.actions import DeclareLaunchArgument, ExecuteProcess
 from launch.substitutions import Command, LaunchConfiguration
 from launch_ros.actions import Node
+import time
 
 def generate_launch_description():
+
+  # In order to ensure gazebo is properly intialized
+  time.sleep(4.0)
   
   # Set (x, y, z) default position of turtlebot2
   x_pos = LaunchConfiguration('-x', default='0')
diff --git a/Launchers/follow_person.launch.py b/Launchers/follow_person.launch.py
index 190cba703..19767bd25 100644
--- a/Launchers/follow_person.launch.py
+++ b/Launchers/follow_person.launch.py
@@ -74,7 +74,7 @@ def generate_launch_description():
   start_gazebo_server_cmd = IncludeLaunchDescription(
     PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
     condition=IfCondition(use_simulator),
-    launch_arguments={'world': world}.items())
+    launch_arguments={'world': world, 'pause': 'true'}.items())
   
   start_turtlebot2_cmd = IncludeLaunchDescription(
     PythonLaunchDescriptionSource(os.path.join(pkg_share_dir, 'launch', 'spawn_model.launch.py')),