diff --git a/launch/fake_localization.launch b/launch/fake_localization.launch
index 42e68ed772766a6e768b5aabab3cf3a20d062ef8..bd8fedc4d144b9004edc3bccc5c4fb8bd86ccb54 100644
--- a/launch/fake_localization.launch
+++ b/launch/fake_localization.launch
@@ -11,9 +11,9 @@
       <param name="global_frame_id"   value="/map" />
       <param name="base_frame_id"   value="/$(optenv ROBOT tibi)/base_footprint" />
       <!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
-      <param name="delta_x"   value="1.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ;  delta_y=2.0 ; delta_yaw=0.0 -->
-      <param name="delta_y"   value="1.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ;  delta_y=-15.0 ; delta_yaw=1.57 -->
-      <param name="delta_yaw" value="0.0" /> <!-- Normal position2_act_ultima (estrechez mitad camino) = delta_x=1.0 ;  delta_y=1.5 ; delta_yaw=0.0 -->
+      <param name="delta_x"   value="-15.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ;  delta_y=2.0 ; delta_yaw=0.0 ANTES LEARNING= 1.0--> 
+      <param name="delta_y"   value="0.0" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ;  delta_y=-15.0 ; delta_yaw=1.57 ANTES LEARNING= 1.5-->
+      <param name="delta_yaw" value="3.14" /> <!-- Normal position2_act_ultima (estrechez mitad camino) = delta_x=1.0 ;  delta_y=1.5 ; delta_yaw=0.0 ANTES LEARNING= 0.0-->
       <remap from="/odom" to="/$(optenv ROBOT tibi)/segway/odom"/>
       <remap from="base_pose_ground_truth" to="/$(optenv ROBOT tibi)/segway/odom"/>
     </node>
diff --git a/launch/fake_localization2.launch b/launch/fake_localization2.launch
index f641e879e147e0f1787912a44c6a0c2b77a72d37..6c58bf3b767c3e76f2963d92cf215b3ebc5455a7 100644
--- a/launch/fake_localization2.launch
+++ b/launch/fake_localization2.launch
@@ -11,9 +11,9 @@
       <param name="global_frame_id"   value="/map" />
       <param name="base_frame_id"   value="/$(optenv ROBOT dabo)/base_footprint" />
       <!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
-      <param name="delta_x"   value="1.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ;  delta_y=1.0 ; delta_yaw=0.0 -->
-      <param name="delta_y"   value="0.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=0.0 ;  delta_y=-15.0 ; delta_yaw=1.57 -->
-      <param name="delta_yaw" value="0.0" /> <!-- GIRO ESQUINA robot como persona => delta_x=0.0 ;  delta_y=-15.0 ; delta_yaw=1.57 -->
+      <param name="delta_x"   value="8.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ;  delta_y=1.0 ; delta_yaw=0.0 -->
+      <param name="delta_y"   value="0.0" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=0.0 ;  delta_y=-15.0 ; delta_yaw=1.57 -->
+      <param name="delta_yaw" value="1.57" /> <!-- GIRO ESQUINA robot como persona => delta_x=0.0 ;  delta_y=-15.0 ; delta_yaw=1.57 -->
 <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ;  delta_y=0.5 ; delta_yaw=0.0 -->
       <remap from="/odom" to="/$(optenv ROBOT dabo)/segway/odom"/>
       <remap from="base_pose_ground_truth" to="/$(optenv ROBOT dabo)/segway/odom"/>
diff --git a/src/fake_laser_gen_alg_node.cpp b/src/fake_laser_gen_alg_node.cpp
index 1cb6116473aeb95f51fbf195330d2f9ee6375416..9d166786d91cfc30d9f44945796edf79e42ed713 100644
--- a/src/fake_laser_gen_alg_node.cpp
+++ b/src/fake_laser_gen_alg_node.cpp
@@ -89,7 +89,7 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
   LaserScan_msg_.ranges.resize(1436,59.9);
   //laser_mode_=FakeLaserGenAlgNode::n_obstacles5;  //caso estrechez en medio del camino. Muy estrecho!
   //laser_mode_=FakeLaserGenAlgNode::n_obstacles3;  //caso estrechez en medio del camino! obstaculos a 2.2305 m entre ellos va con empty_map_whit_obstacles1
-  //laser_mode_=FakeLaserGenAlgNode::n_obstacles7; //  [ultimo que estaba usando BUENO, datos paper robot2017] caso estrechez en medio del camino!  caso obstaculos a  1.94 m entre ellos. va con empty_map_whit_obstacles2
+  laser_mode_=FakeLaserGenAlgNode::n_obstacles7; //  [ultimo que estaba usando BUENO, datos paper robot2017] caso estrechez en medio del camino!  caso obstaculos a  1.94 m entre ellos. va con empty_map_whit_obstacles2
  // laser_mode_=FakeLaserGenAlgNode::n_obstacles7_robot2017_videos;
   //laser_mode_=FakeLaserGenAlgNode::n_obstacles8; // [ultimo que estaba usando BUENO] caso estrechez en medio del camino!  caso obstaculos a 1.4965 m entre ellos. va con empty_map_whit_obstacles2
   //laser_mode_=FakeLaserGenAlgNode::n_obstacles6;  //caso estrechez en medio del camino!
@@ -341,22 +341,25 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
 
        //LaserScan_msg_.ranges[100]= 7.0;
        //LaserScan_msg_.ranges[100+40]= 7.0;
-      // LaserScan_msg_.ranges[340]= 7.0;
-       //LaserScan_msg_.ranges[340+40]= 7.0;
-      // LaserScan_msg_.ranges[660]= 13.25;
-       // LaserScan_msg_.ranges[680-20]= 13.0;
-       //LaserScan_msg_.ranges[680-15]= 13.25;
+       //LaserScan_msg_.ranges[680-35]= 13.45;
+      // LaserScan_msg_.ranges[680-30]= 13.45;
+      // LaserScan_msg_.ranges[680-25]= 13.40;
+        LaserScan_msg_.ranges[680-20]= 13.30;
+       LaserScan_msg_.ranges[680-15]= 13.25;
         LaserScan_msg_.ranges[680-10]= 13.25;
       LaserScan_msg_.ranges[680-5]= 13.15;
        LaserScan_msg_.ranges[680]= 13.15;
         LaserScan_msg_.ranges[680+5]= 13.0;
-       LaserScan_msg_.ranges[730]= 13.0;
-        LaserScan_msg_.ranges[730+5]= 13.15;
-        LaserScan_msg_.ranges[730+10]= 13.15;
+      // LaserScan_msg_.ranges[730]= 13.0;
+      //  LaserScan_msg_.ranges[730+5]= 13.15;
+      //  LaserScan_msg_.ranges[730+10]= 13.15;
        LaserScan_msg_.ranges[730+15]= 13.15;
-      //LaserScan_msg_.ranges[730+15]= 13.15;
-       //LaserScan_msg_.ranges[730+20]= 13.15;
-        //LaserScan_msg_.ranges[1300+18]= 7.0;
+      LaserScan_msg_.ranges[730+20]= 13.20;
+       LaserScan_msg_.ranges[730+25]= 13.20;
+        LaserScan_msg_.ranges[730+30]= 13.25;
+      LaserScan_msg_.ranges[730+35]= 13.25;
+        LaserScan_msg_.ranges[730+40]= 13.30;
+      LaserScan_msg_.ranges[730+45]= 13.30;
     }
     break;