diff --git a/nav2_system_tests/maps/empty_room.yaml b/nav2_system_tests/maps/empty_room.yaml
index 9b6cfc95657974720d85fbedf1df648aa6f86a17..6d6af16497357511bb47ef43c19c54dd69ebd815 100644
--- a/nav2_system_tests/maps/empty_room.yaml
+++ b/nav2_system_tests/maps/empty_room.yaml
@@ -4,4 +4,3 @@ origin: [-10.000000, -10.000000, 0.000000]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196
-
diff --git a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.config
similarity index 78%
rename from nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config
rename to nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.config
index acf1a68e90358a9b345af12d88658cbd3f8fb8da..f82c96e58b20a598d5e8f6cf708a7c4f47253a80 100644
--- a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config
+++ b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.config
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>TurtleBot3(Waffle)</name>
+  <name>TurtleBot3_Waffle_DepthCamera</name>
   <version>2.0</version>
   <sdf version="1.5">model.sdf</sdf>
 
@@ -14,6 +14,6 @@
   </author>
 
   <description>
-    TurtleBot3 Waffle
+    TurtleBot3 Waffle with Depth Camera
   </description>
 </model>
diff --git a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.sdf
similarity index 99%
rename from nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf
rename to nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.sdf
index d7fe0f8b4f24a6e32dfdb1487b391800e5cbba64..6dd576dfe6bdfe5d003b0633d3ac3e0834a3d5d1 100644
--- a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf
+++ b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
-  <model name="turtlebot3_waffle">  
+  <model name="TurtleBot3_Waffle_DepthCamera">  
   <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
 
     <link name="base_footprint"/>
@@ -335,7 +335,7 @@
 
       <sensor name="intel_realsense_r200_depth" type="depth">
         <always_on>1</always_on>
-        <update_rate>1</update_rate>
+        <update_rate>15</update_rate>
         <pose>0.064 -0.047 0.107 0 0 0</pose>
         <camera name="realsense_depth_camera">
         </camera>