diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
index 373794b2..48f1ac79 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
@@ -36,6 +36,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
   wheelSlip = ""
   trackControllers = ""
   trackLinks = ""
+  power_draining_topics = ""
 
   for track in tracks
     if useWheels
@@ -61,6 +62,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
           </plugin>
         HEREDOC
         trackLinks += "<#{track}_track><link>#{track}_track</link></#{track}_track>"
+        power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{track}_track/track_cmd_vel</power_draining_topic>"
     end
     for flipper in flippersOfTrack[track]
       if useWheels
@@ -86,6 +88,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
           </plugin>
         HEREDOC
         trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
+        power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{flipper}_flipper/track_cmd_vel</power_draining_topic>"
       end
     end
   end
@@ -177,6 +180,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>4.95</power_load>
         <start_on_motion>true</start_on_motion>
+        #{power_draining_topics}
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"
diff --git a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
index 5036d61a..0c6cfa81 100644
--- a/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
+++ b/submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
@@ -33,6 +33,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
   diff_drive = ""
   trackControllers = ""
   trackedVehicle = ""
+  power_draining_topics = ""
   if num_wheels > 0
       for wheel_num in 1..num_wheels
         # we only want odometry from the first diffdrive
@@ -71,6 +72,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
               </plugin>
             HEREDOC
             trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
+            power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{flipper}_flipper/track_cmd_vel</power_draining_topic>"
         end
     end
     trackedVehicle += <<-HEREDOC
@@ -131,6 +133,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
         <smooth_current_tau>1.9499</smooth_current_tau>
         <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
+        #{power_draining_topics}
       </plugin>
       <!-- Gas Sensor plugin -->
       <plugin filename="libGasEmitterDetectorPlugin.so"