diff --git a/launch/sim_sample.launch b/launch/sim_sample.launch
index c78e4f50208a9e4402c7288f9b21d3d25854eb52..1a68b2bf0303a2787ff5e72d1c1d626c3e5ec78a 100644
--- a/launch/sim_sample.launch
+++ b/launch/sim_sample.launch
@@ -2,7 +2,8 @@
 <launch>
   
   <arg name="ns"    default="ana"/>
-  <arg name="world" default="$(find iri_gazebo_worlds)/worlds/empty.world"/>
+  <arg name="world_name" default="empty"/>
+  <arg name="world"      default="$(find iri_gazebo_worlds)/worlds/$(arg world_name).world"/>
   <arg name="rviz"  default="false"/>
   <arg name="gui"   default="true"/>
 
diff --git a/package.xml b/package.xml
index e31997d59ed679ceabbb2fd3441c69927d173d21..dcb863bb554dfc76112b80339491240c3a619f1f 100644
--- a/package.xml
+++ b/package.xml
@@ -49,6 +49,7 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>iri_ana_description</exec_depend>
   <exec_depend>iri_gazebo_worlds</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>