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>
+