diff --git a/stretch_gazebo/launch/random_objects.launch b/stretch_gazebo/launch/random_objects.launch
deleted file mode 100644
index 9cde094..0000000
--- a/stretch_gazebo/launch/random_objects.launch
+++ /dev/null
@@ -1,63 +0,0 @@
-<launch>
-
-  <arg name="paused" default="false"/>
-  <arg name="use_sim_time" default="true"/>
-  <arg name="gui" default="true"/>
-  <arg name="headless" default="false"/>
-  <arg name="debug" default="false"/>
-  <arg name="rviz" default="false"/>
-  <arg name="model" default="$(find stretch_gazebo)/urdf/stretch_gazebo.urdf.xacro"/>
-  <arg name="image_topic" default="/realsense/color/image_raw"/>
-
-  <!--- Spawn the Stretch robot in the random_objects world file.-->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="debug" value="$(arg debug)" />
-    <arg name="gui" value="$(arg gui)" />
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
-    <arg name="headless" value="$(arg headless)"/>
-    <arg name="verbose" value="true"/>
-    <arg name="world_name" value="$(find stretch_gazebo)/worlds/random_objects.world"/>
-  </include>
-
-  <!--- Run upright_camera_view.launch file -->
-  <!-- <include file="$(find stretch_gazebo)/launch/upright_camera_view.launch">
-    <arg name="image_topic" value="$(arg image_topic)"/>
-  </include> -->
-
-  <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
-
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
-        args=" -urdf -model robot -param robot_description" respawn="false" output="screen" />
-
-  <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="30.0" />
-  </node>
-
-  <!--- Run rviz node. Requires argument to run-->
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/>
-
-  <rosparam command="load"
-            file="$(find stretch_gazebo)/config/joints.yaml"
-            ns="stretch_joint_state_controller" />
-
-  <rosparam command="load"
-            file="$(find stretch_gazebo)/config/drive_config.yaml"
-            ns="stretch_diff_drive_controller" />
-
-  <rosparam command="load"
-            file="$(find stretch_gazebo)/config/arm.yaml"/>
-
-  <rosparam command="load"
-            file="$(find stretch_gazebo)/config/head.yaml" />
-
-  <rosparam command="load"
-            file="$(find stretch_gazebo)/config/gripper.yaml" />
-
-  <node name="stretch_controller_spawner" pkg="controller_manager" type="spawner"
-        args="stretch_joint_state_controller stretch_diff_drive_controller stretch_arm_controller stretch_head_controller stretch_gripper_controller"/>
-
-  <node name="publish_ground_truth_odom" pkg="stretch_gazebo" type="publish_ground_truth_odom.py" output="screen"/>
-
-</launch>