diff --git a/cfg/TiagoNavModule.cfg b/cfg/TiagoNavModule.cfg
index eed4b8a76b7d23298a9ef0e89d672ddf4bff5e5e..cab9ba9cddcd66b5ebaea024ba22145a74a69779 100755
--- a/cfg/TiagoNavModule.cfg
+++ b/cfg/TiagoNavModule.cfg
@@ -46,8 +46,8 @@ tf = gen.add_group("TF")
 add_module_params(gen,"head_module")
 
 move_base_action=add_module_action_params(gen,"move_base")
-move_base_action.add("mb_frame_id",str_t,                   0,                     "Reference frame of the position goals","/map")
-move_base_action.add("mb_cancel_prev", bool_t,              0,                     "Cancel previous action",         True)
+move_base_action.add("move_base_frame_id",str_t,                   0,                     "Reference frame of the position goals","map")
+move_base_action.add("move_base_cancel_prev", bool_t,              0,                     "Cancel previous action",         True)
 
 poi_action=add_module_action_params(gen,"move_poi")
 
@@ -58,8 +58,8 @@ odom.add("odom_watchdog_time_s",   double_t,                0,
 tf.add("tf_timeout_time_s",        double_t,                0,                     "Maximum time to wait for transform",5,   0.01,    50)
 
 costmap=add_module_service_params(gen,"clear_costmap")
-costmap.add("cm_enable_auto_clear",bool_t,                  0,                     "Periodically clear the costmaps",False)
-costmap.add("cm_auto_clear_rate_hz",double_t,               0,                     "Clear costmaps period",          0.1,    0.01,     1.0)
+costmap.add("clear_costmap_enable_auto_clear",bool_t,                  0,                     "Periodically clear the costmaps",False)
+costmap.add("clear_costmap_auto_clear_rate_hz",double_t,               0,                     "Clear costmaps period",          0.1,    0.01,     1.0)
 
 map=add_module_service_params(gen,"change_map")
 
diff --git a/config/nav_module_default.yaml b/config/nav_module_default.yaml
deleted file mode 100644
index a316286828ecce85f230f3ba9245e935097b5ad2..0000000000000000000000000000000000000000
--- a/config/nav_module_default.yaml
+++ /dev/null
@@ -1,40 +0,0 @@
-rate_hz: 1.0
-
-mb_max_retries: 1
-mb_feedback_watchdog_time_s: 1.0
-mb_enable_watchdog: True
-mb_timeout_s: 1.0
-mb_enable_timeout: True
-mb_frame_id: "/map"
-mb_enabled: True
-mb_cancel_prev: True
-
-poi_max_retries: 1
-poi_feedback_watchdog_time_s: 1.0
-poi_enable_watchdog: True
-poi_timeout_s: 1.0
-poi_enable_timeout: True
-poi_enabled: True
-
-wp_max_retries: 1
-wp_feedback_watchdog_time_s: 1.0
-wp_enable_watchdog: True
-wp_timeout_s: 1.0
-wp_enable_timeout: True
-wp_enabled: True
-
-odom_watchdog_time_s: 1.0 
-
-tf_timeout_time_s: 5.0 
-
-cm_max_retries: 1.0 
-cm_enable_auto_clear: False
-cm_auto_clear_rate_hz: 0.1
-cm_enabled: True
-
-map_max_retries: 1
-map_enabled: True
-
-op_mode_max_retries: 1
-op_mode_enabled: True
-
diff --git a/config/tiago_nav_module_default.yaml b/config/tiago_nav_module_default.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..54718f239b63a4c98c226f941d19752fbaf7e6af
--- /dev/null
+++ b/config/tiago_nav_module_default.yaml
@@ -0,0 +1,40 @@
+nav_module_rate_hz: 1.0
+
+move_base_max_retries: 1
+move_base_feedback_watchdog_time_s: 1.0
+move_base_enable_watchdog: True
+move_base_timeout_s: 1.0
+move_base_enable_timeout: True
+move_base_frame_id: "map"
+move_base_enabled: True
+move_base_cancel_prev: True
+
+move_poi_max_retries: 1
+move_poi_feedback_watchdog_time_s: 1.0
+move_poi_enable_watchdog: True
+move_poi_timeout_s: 1.0
+move_poi_enable_timeout: True
+move_poi_enabled: True
+
+move_waypoint_max_retries: 1
+move_waypoint_feedback_watchdog_time_s: 1.0
+move_waypoint_enable_watchdog: True
+move_waypoint_timeout_s: 1.0
+move_waypoint_enable_timeout: True
+move_waypoint_enabled: True
+
+odom_watchdog_time_s: 1.0 
+
+tf_timeout_time_s: 5.0 
+
+clear_costmaps_max_retries: 1.0 
+clear_costmaps_enable_auto_clear: False
+clear_costmaps_auto_clear_rate_hz: 0.1
+clear_costmaps_enabled: True
+
+change_map_max_retries: 1
+change_map_enabled: True
+
+set_op_mode_max_retries: 1
+set_op_mode_enabled: True
+
diff --git a/launch/nav_client.launch b/launch/nav_client.launch
deleted file mode 100644
index eb074c12fb423ce523867d4a2b35079fb841d4c8..0000000000000000000000000000000000000000
--- a/launch/nav_client.launch
+++ /dev/null
@@ -1,34 +0,0 @@
-<launch>
-
-  <!-- launch the play motion client node -->
-  <node name="nav_client"
-        pkg="nav_client"
-        type="nav_client"
-        output="screen"
-        ns="/tiago">
-    <remap from="~/nav_module/move_base"
-             to="/move_base"/>
-    <remap from="~/nav_module/move_poi"
-             to="/poi_navigation_server/go_to_poi"/>
-    <remap from="~/nav_module/move_waypoint"
-             to="/pal_waypoint/navigate"/>
-    <remap from="~/nav_module/odom"
-             to="/mobile_base_controller/odom"/>
-    <remap from="~/nav_module/clear_costmaps"
-             to="/move_base/clear_costmaps"/>
-    <remap from="~/nav_module/change_map"
-             to="/pal_map_manager/change_map"/>
-    <remap from="~/nav_module/set_op_mode"
-             to="/pal_navigation_sm"/>
-    <remap from="~/nav_module/move_base_reconf"
-             to="/move_base/PalLocalPlanner/set_parameters"/>
-
-    <rosparam file="$(find tiago_modules)/config/nav_module_default.yaml" command="load" ns="nav_module" />
-  </node>
-
-  <!-- launch dynamic reconfigure -->
-  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
-    output="screen"/>
-
-</launch>
-
diff --git a/launch/nav_client_sim.launch b/launch/nav_client_sim.launch
deleted file mode 100644
index d2b7c7486e345191a60fbaede74dac13ac33bfd5..0000000000000000000000000000000000000000
--- a/launch/nav_client_sim.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <include file="$(find tiago_2dnav_gazebo)/launch/tiago_navigation.launch"/>
-
-  <include file="$(find tiago_laser_sensors)/launch/rgbd_cloud_laser.launch"/>
-
-  <include file="$(find nav_client)/launch/nav_client.launch"/>
-
-</launch>
-
diff --git a/launch/tiago_nav_client.launch b/launch/tiago_nav_client.launch
new file mode 100644
index 0000000000000000000000000000000000000000..721cd4fbb9b7bab6cea2b077ae1448cbf8464040
--- /dev/null
+++ b/launch/tiago_nav_client.launch
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="head_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_nav_module)/config/tiago_nav_module_default.yaml" />
+  <arg name="move_base_action" default="/move_base"/>
+  <arg name="move_poi_action" default="/poi_navigation_server/go_to_poi"/>
+  <arg name="move_waypoint_action" default="/pal_waypoint/navigate"/>
+  <arg name="odom_topic" default="/mobile_base_controller/odom"/>
+  <arg name="clear_costmaps_service" default="/move_base/clear_costmaps"/>
+  <arg name="change_map_service" default="/pal_map_manager/change_map"/>
+  <arg name="set_op_mode_service" default="/pal_navigation_sm"/>
+  <arg name="move_base_dyn_reconf" default="/move_base/PalLocalPlanner/set_parameters"/>
+
+  <!-- launch the play motion client node -->
+  <node name="$(arg node_name)"
+        pkg="tiago_nav_module"
+        type="tiago_nav_client"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)">
+    <remap from="~/nav_module/move_base"
+             to="$(arg move_base_action)"/>
+    <remap from="~/nav_module/move_poi"
+             to="$(arg move_poi_action)"/>
+    <remap from="~/nav_module/move_waypoint"
+             to="$(arg move_waypoint_action)"/>
+    <remap from="~/nav_module/odom"
+             to="$(arg odom_topic)"/>
+    <remap from="~/nav_module/clear_costmaps"
+             to="$(arg clear_costmaps_service)"/>
+    <remap from="~/nav_module/change_map"
+             to="$(arg change_map_service)"/>
+    <remap from="~/nav_module/set_op_mode"
+             to="$(arg set_op_mode_service)"/>
+    <remap from="~/nav_module/move_base_reconf"
+             to="$(arg move_base_dyn_reconf)"/>
+
+    <rosparam file="$(arg config_file)" command="load" ns="nav_module" />
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+</launch>
+
diff --git a/launch/tiago_nav_client_sim.launch b/launch/tiago_nav_client_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..7b32600187f58a43818d1c4405241677a1e555d4
--- /dev/null
+++ b/launch/tiago_nav_client_sim.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="head_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_nav_module)/config/tiago_nav_module_default.yaml" />
+  <arg name="move_base_action" default="/move_base"/>
+  <arg name="move_poi_action" default="/poi_navigation_server/go_to_poi"/>
+  <arg name="move_waypoint_action" default="/pal_waypoint/navigate"/>
+  <arg name="odom_topic" default="/mobile_base_controller/odom"/>
+  <arg name="clear_costmaps_service" default="/move_base/clear_costmaps"/>
+  <arg name="change_map_service" default="/pal_map_manager/change_map"/>
+  <arg name="set_op_mode_service" default="/pal_navigation_sm"/>
+  <arg name="move_base_dyn_reconf" default="/move_base/PalLocalPlanner/set_parameters"/>
+
+  <include file="$(find tiago_2dnav_gazebo)/launch/tiago_navigation.launch"/>
+
+  <include file="$(find tiago_laser_sensors)/launch/rgbd_cloud_laser.launch"/>
+
+  <include file="$(find tiago_nav_module)/launch/tiago_nav_client.launch">
+    <arg name="node_name"              value="$(arg node_name)" />
+    <arg name="output"                 value="$(arg output)" />
+    <arg name="launch_prefix"          value="$(arg launch_prefix)" />
+    <arg name="config_file"            value="$(arg_config_file)" />
+    <arg name="move_base_action"       value="$(arg move_base_action)"/>
+    <arg name="move_poi_action"        value="$(arg move_poi_action)"/>
+    <arg name="move_waypoint_action"   value="$(arg move_waypoint_action)"/>
+    <arg name="odom_topic"             value="$(arg odom_topic)"/>
+    <arg name="clear_costmaps_service" value="$(arg clear_costmaps_service)"/>
+    <arg name="change_map_service"     value="$(arg change_map_service)"/>
+    <arg name="set_op_mode_service"    value="$(arg set_op_mode_service)"/>
+    <arg name="move_base_dyn_reconf"   value="$(arg move_base_dyn_reconf)"/>
+  </include>
+
+</launch>
+