diff --git a/road_description/urdf/circuits/full/trafficlights_fixed.xacro b/road_description/urdf/circuits/full/trafficlights_fixed.xacro
index 70cb9942148f211ddaee49b9e3b58b5c5e2fe0c0..25f0f5cad0c2b3fe4fea4d05376f8d6b79772ff3 100644
--- a/road_description/urdf/circuits/full/trafficlights_fixed.xacro
+++ b/road_description/urdf/circuits/full/trafficlights_fixed.xacro
@@ -9,7 +9,7 @@
   
   <xacro:trafficlight name="semaphore_start1"
                       parent="$(arg parent)"
-                      tag_dae="tag95"
+                      tag_dae="alvar0"
                       light_color="red"
                       light_material="Gazebo/RedGlow"
                       light_material2="Gazebo/GreenGlow">
@@ -18,7 +18,7 @@
   
   <xacro:trafficlight name="semaphore_start2"
                       parent="$(arg parent)"
-                      tag_dae="tag95"
+                      tag_dae="alvar0"
                       light_color="red"
                       light_material="Gazebo/RedGlow"
                       light_material2="Gazebo/GreenGlow">
@@ -27,7 +27,7 @@
   
   <xacro:trafficlight name="semaphore_parking1"
                       parent="$(arg parent)"
-                      tag_dae="tag47"
+                      tag_dae="alvar1"
                       light_color="blue"
                       light_material="Gazebo/Blue"
                       light_material2="Gazebo/Black">
@@ -36,7 +36,7 @@
   
   <xacro:trafficlight name="semaphore_parking2"
                       parent="$(arg parent)"
-                      tag_dae="tag47"
+                      tag_dae="alvar1"
                       light_color="blue"
                       light_material="Gazebo/Blue">
     <origin xyz="-3.1 -0.5 0" rpy="0 0 ${PI}"/>
diff --git a/road_description/urdf/trafficlight/dae/alvar0.dae b/road_description/urdf/trafficlight/dae/alvar0.dae
new file mode 100644
index 0000000000000000000000000000000000000000..42647a5eccdb19f3f2253e13e14f026f8cae7446
--- /dev/null
+++ b/road_description/urdf/trafficlight/dae/alvar0.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author></author>
+      <authoring_tool>FBX COLLADA exporter</authoring_tool>
+      <comments></comments>
+    </contributor>
+    <created>2014-10-05T08:59:28Z</created>
+    <keywords></keywords>
+    <modified>2014-10-05T08:59:28Z</modified>
+    <revision></revision>
+    <subject></subject>
+    <title></title>
+    <unit meter="1.0" name="meter"></unit>
+    <up_axis>Y_UP</up_axis></asset>
+  <library_images>
+    <image id="Map #1-image" name="Map #1">
+      <init_from>png/alvar0.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material #36" name="Material #36">
+      <instance_effect url="#Material #36-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="Material #36-fx" name="Material #36">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0  0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1  1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="Map #1-image" texcoord="CHANNEL0">
+                <extra>
+                  <technique profile="MAYA">
+                    <wrapU sid="wrapU0">TRUE</wrapU>
+                    <wrapV sid="wrapV0">TRUE</wrapV>
+                    <blend_mode>ADD</blend_mode>
+                  </technique>
+                </extra>
+              </texture>
+            </diffuse>
+            <specular>
+              <color sid="specular">0  0 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0  0 0 1</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1  1 1 1</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="image-lib" name="image">
+      <mesh>
+        <source id="image-POSITION">
+          <float_array id="image-POSITION-array" count="12">
+          -0.5 -0.5 0
+          0.5 -0.5 0
+          -0.5 0.5 0
+          0.5 0.5 0
+          </float_array>
+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="image-Normal0">
+          <float_array id="image-Normal0-array" count="18">
+          0 0 1
+          0 0 1
+          0 0 1
+          0 0 1
+          0 0 1
+          0 0 1
+          </float_array>
+          <technique_common>
+            <accessor source="#image-Normal0-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="image-UV0">
+          <float_array id="image-UV0-array" count="8">
+          0 0
+          1 0
+          0 1
+          1 1
+          </float_array>
+          <!--
+          0.000499 0.000500
+          0.999500 0.000499
+          0.000500 0.999501
+          0.999501 0.999500
+          -->
+          <technique_common>
+            <accessor source="#image-UV0-array" count="4" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="image-VERTEX">
+          <input semantic="POSITION" source="#image-POSITION"/>
+        </vertices>
+        <triangles count="2" material="Material #36">
+          <input semantic="VERTEX" offset="0" source="#image-VERTEX"/>
+          <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+          <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/>
+          <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="" name="">
+      <node name="image" id="image" sid="image">
+        <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+        <instance_geometry url="#image-lib">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material #36" target="#Material #36"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="FCOLLADA">
+            <visibility>1</visibility>
+          </technique>
+        </extra>
+      </node>
+      <extra>
+        <technique profile="MAX3D">
+          <frame_rate>30</frame_rate>
+        </technique>
+        <technique profile="FCOLLADA">
+          <start_time>0</start_time>
+          <end_time>3.333333</end_time>
+        </technique>
+      </extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/road_description/urdf/trafficlight/dae/alvar1.dae b/road_description/urdf/trafficlight/dae/alvar1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..b0a367d40ecb45c3a6ab7d69dd2587f3d26266ce
--- /dev/null
+++ b/road_description/urdf/trafficlight/dae/alvar1.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author></author>
+      <authoring_tool>FBX COLLADA exporter</authoring_tool>
+      <comments></comments>
+    </contributor>
+    <created>2014-10-05T08:59:28Z</created>
+    <keywords></keywords>
+    <modified>2014-10-05T08:59:28Z</modified>
+    <revision></revision>
+    <subject></subject>
+    <title></title>
+    <unit meter="1.0" name="meter"></unit>
+    <up_axis>Y_UP</up_axis></asset>
+  <library_images>
+    <image id="Map #1-image" name="Map #1">
+      <init_from>png/alvar1.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material #36" name="Material #36">
+      <instance_effect url="#Material #36-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="Material #36-fx" name="Material #36">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0  0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1  1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="Map #1-image" texcoord="CHANNEL0">
+                <extra>
+                  <technique profile="MAYA">
+                    <wrapU sid="wrapU0">TRUE</wrapU>
+                    <wrapV sid="wrapV0">TRUE</wrapV>
+                    <blend_mode>ADD</blend_mode>
+                  </technique>
+                </extra>
+              </texture>
+            </diffuse>
+            <specular>
+              <color sid="specular">0  0 0 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0  0 0 1</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1  1 1 1</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="image-lib" name="image">
+      <mesh>
+        <source id="image-POSITION">
+          <float_array id="image-POSITION-array" count="12">
+          -0.5 -0.5 0
+          0.5 -0.5 0
+          -0.5 0.5 0
+          0.5 0.5 0
+          </float_array>
+          <technique_common>
+            <accessor source="#image-POSITION-array" count="4" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="image-Normal0">
+          <float_array id="image-Normal0-array" count="18">
+          0 0 1
+          0 0 1
+          0 0 1
+          0 0 1
+          0 0 1
+          0 0 1
+          </float_array>
+          <technique_common>
+            <accessor source="#image-Normal0-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="image-UV0">
+          <float_array id="image-UV0-array" count="8">
+          0 0
+          1 0
+          0 1
+          1 1
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+          <technique_common>
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="image-VERTEX">
+          <input semantic="POSITION" source="#image-POSITION"/>
+        </vertices>
+        <triangles count="2" material="Material #36">
+          <input semantic="VERTEX" offset="0" source="#image-VERTEX"/>
+          <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+          <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/>
+          <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="" name="">
+      <node name="image" id="image" sid="image">
+        <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+        <instance_geometry url="#image-lib">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material #36" target="#Material #36"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+        <extra>
+          <technique profile="FCOLLADA">
+            <visibility>1</visibility>
+          </technique>
+        </extra>
+      </node>
+      <extra>
+        <technique profile="MAX3D">
+          <frame_rate>30</frame_rate>
+        </technique>
+        <technique profile="FCOLLADA">
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+          <end_time>3.333333</end_time>
+        </technique>
+      </extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/road_description/urdf/trafficlight/dae/png/alvar0.png b/road_description/urdf/trafficlight/dae/png/alvar0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9742b5be2bc2655c419e983146af2ae631514295
Binary files /dev/null and b/road_description/urdf/trafficlight/dae/png/alvar0.png differ
diff --git a/road_description/urdf/trafficlight/dae/png/alvar1.png b/road_description/urdf/trafficlight/dae/png/alvar1.png
new file mode 100644
index 0000000000000000000000000000000000000000..4debbfdc2aff5c3d498e848b559fd33132c6f793
Binary files /dev/null and b/road_description/urdf/trafficlight/dae/png/alvar1.png differ
diff --git a/road_description/urdf/trafficlight/dae/tag29.dae b/road_description/urdf/trafficlight/dae/tag29.dae
index d515aabf809ecef19a5887e88a5cff4819c8c6ac..42647a5eccdb19f3f2253e13e14f026f8cae7446 100644
--- a/road_description/urdf/trafficlight/dae/tag29.dae
+++ b/road_description/urdf/trafficlight/dae/tag29.dae
@@ -16,7 +16,7 @@
     <up_axis>Y_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1">
-      <init_from>png/tag29.gif</init_from>
+      <init_from>png/alvar0.png</init_from>
     </image>
   </library_images>
   <library_materials>