diff --git a/nav2_minimal_tb3_sim/launch/spawn_tb3_gps.launch.py b/nav2_minimal_tb3_sim/launch/spawn_tb3_gps.launch.py
index 3e4352d..3b90c48 100644
--- a/nav2_minimal_tb3_sim/launch/spawn_tb3_gps.launch.py
+++ b/nav2_minimal_tb3_sim/launch/spawn_tb3_gps.launch.py
@@ -30,92 +30,92 @@
 
 
 def generate_launch_description():
-    bringup_dir = get_package_share_directory("nav2_minimal_tb3_sim")
+    bringup_dir = get_package_share_directory('nav2_minimal_tb3_sim')
 
-    namespace = LaunchConfiguration("namespace")
-    robot_name = LaunchConfiguration("robot_name")
-    robot_sdf = LaunchConfiguration("robot_sdf")
+    namespace = LaunchConfiguration('namespace')
+    robot_name = LaunchConfiguration('robot_name')
+    robot_sdf = LaunchConfiguration('robot_sdf')
     pose = {
-        "x": LaunchConfiguration("x_pose", default="-2.00"),
-        "y": LaunchConfiguration("y_pose", default="-0.50"),
-        "z": LaunchConfiguration("z_pose", default="0.01"),
-        "R": LaunchConfiguration("roll", default="0.00"),
-        "P": LaunchConfiguration("pitch", default="0.00"),
-        "Y": LaunchConfiguration("yaw", default="0.00"),
+        'x': LaunchConfiguration('x_pose', default='-2.00'),
+        'y': LaunchConfiguration('y_pose', default='-0.50'),
+        'z': LaunchConfiguration('z_pose', default='0.01'),
+        'R': LaunchConfiguration('roll', default='0.00'),
+        'P': LaunchConfiguration('pitch', default='0.00'),
+        'Y': LaunchConfiguration('yaw', default='0.00'),
     }
 
     # Declare the launch arguments
     declare_namespace_cmd = DeclareLaunchArgument(
-        "namespace", default_value="", description="Top-level namespace"
+        'namespace', default_value='', description='Top-level namespace'
     )
 
     declare_robot_name_cmd = DeclareLaunchArgument(
-        "robot_name",
-        default_value="turtlebot3_waffle_gps",
-        description="name of the robot",
+        'robot_name',
+        default_value='turtlebot3_waffle_gps',
+        description='name of the robot',
     )
 
     declare_robot_sdf_cmd = DeclareLaunchArgument(
-        "robot_sdf",
-        default_value=os.path.join(bringup_dir, "urdf", "gz_waffle_gps.sdf.xacro"),
-        description="Full path to robot sdf file to spawn the robot in gazebo",
+        'robot_sdf',
+        default_value=os.path.join(bringup_dir, 'urdf', 'gz_waffle_gps.sdf.xacro'),
+        description='Full path to robot sdf file to spawn the robot in gazebo',
     )
 
     bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
         namespace=namespace,
         parameters=[
             {
-                "config_file": os.path.join(
-                    bringup_dir, "configs", "turtlebot3_waffle_gps_bridge.yaml"
+                'config_file': os.path.join(
+                    bringup_dir, 'configs', 'turtlebot3_waffle_gps_bridge.yaml'
                 ),
-                "expand_gz_topic_names": True,
-                "use_sim_time": True,
+                'expand_gz_topic_names': True,
+                'use_sim_time': True,
             }
         ],
-        output="screen",
+        output='screen',
     )
 
     spawn_model = Node(
-        package="ros_gz_sim",
-        executable="create",
-        output="screen",
+        package='ros_gz_sim',
+        executable='create',
+        output='screen',
         namespace=namespace,
         arguments=[
-            "-name",
+            '-name',
             robot_name,
-            "-string",
+            '-string',
             Command(
                 [
-                    FindExecutable(name="xacro"),
-                    " ",
-                    "namespace:=",
-                    LaunchConfiguration("namespace"),
-                    " ",
+                    FindExecutable(name='xacro'),
+                    ' ',
+                    'namespace:=',
+                    LaunchConfiguration('namespace'),
+                    ' ',
                     robot_sdf,
                 ]
             ),
-            "-x",
-            pose["x"],
-            "-y",
-            pose["y"],
-            "-z",
-            pose["z"],
-            "-R",
-            pose["R"],
-            "-P",
-            pose["P"],
-            "-Y",
-            pose["Y"],
+            '-x',
+            pose['x'],
+            '-y',
+            pose['y'],
+            '-z',
+            pose['z'],
+            '-R',
+            pose['R'],
+            '-P',
+            pose['P'],
+            '-Y',
+            pose['Y'],
         ],
     )
 
     set_env_vars_resources = AppendEnvironmentVariable(
-        "GZ_SIM_RESOURCE_PATH", os.path.join(bringup_dir, "models")
+        'GZ_SIM_RESOURCE_PATH', os.path.join(bringup_dir, 'models')
     )
     set_env_vars_resources2 = AppendEnvironmentVariable(
-        "GZ_SIM_RESOURCE_PATH", str(Path(os.path.join(bringup_dir)).parent.resolve())
+        'GZ_SIM_RESOURCE_PATH', str(Path(os.path.join(bringup_dir)).parent.resolve())
     )
 
     # Create the launch description and populate