diff --git a/examples/dave_demo_launch/launch/dave_integrated_world_demo.launch b/examples/dave_demo_launch/launch/dave_integrated_world_demo.launch
new file mode 100644
index 00000000..531d962a
--- /dev/null
+++ b/examples/dave_demo_launch/launch/dave_integrated_world_demo.launch
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
new file mode 100644
index 00000000..b94e0893
--- /dev/null
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -0,0 +1,160 @@
+
+
+
+
+
+
+ 0.002
+ 1
+ 500
+
+
+
+
+ 36.408
+ 25.403
+
+
+
+
+ 50 0 150 0 0 0
+ 1 1 1 1
+ .1 .1 .1 1
+ 0.3 0.3 -1
+ false
+
+
+
+
+ -50 0 -150 0 0 0
+ 0.6 0.6 0.6 1
+ 0 0 0 1
+ -0.3 -0.3 -1
+ false
+
+
+
+
+ model://ned_frame
+ 0 0 0 0 0 0
+
+
+
+
+ model://Santorini
+ 0 0 0 0 0 0
+
+
+
+ hydrodynamics
+
+ current_velocity
+
+ 0
+ 0
+ 5
+ 0.0
+ 0.0
+
+
+
+ 0
+ -3.141592653589793238
+ 3.141592653589793238
+ 0.0
+ 0.0
+
+
+
+ 0
+ -3.141592653589793238
+ 3.141592653589793238
+ 0.0
+ 0.0
+
+
+
+
+ stratified_current_velocity
+
+ transientOceanCurrentDatabase.csv
+
+
+
+
+
+
+ ACT1951_1_Annual_2021.csv
+
+
+
+ 69
+ 255
+
+
+
+
+ 4
+ 3
+ 2021
+ 15
+ 0
+
+
+
+
+
+
+
+
+ model://plug
+ 1005 1000 -94.84 0 -1.5707963267948966 0
+
+
+
+ true
+ 1005 1000 -95 0 0 0
+
+
+
+
+ 1 1 0.2
+
+
+
+
+
+
+
+ 1 1 0.2
+
+
+
+
+
+
+
+ model://socket_box
+ 1000 1000 -99.8 0 0 0
+
+
+
+ wamv::base_link
+ vrx/dock_2018/bay_1_external
+ 1000 990 -1.5 0 0 0
+
+
+ 8 1.5 2
+
+
+
+
+
+
+ 1012 985 -73 0 0.88 1.8
+ orbit
+ perspective
+
+
+
+