diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..65c5ca88a67c30becee01c5a8816d964b03862f9
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
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+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
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+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
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+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
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+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
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+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
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+permanent authorization for you to choose that version for the
+Library.
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..c7062dbc7586c61ae212293d6d8350dbf7aceca8
--- /dev/null
+++ b/README.md
@@ -0,0 +1,32 @@
+# Description
+
+This package contains navigation related parameter and launch files particular to the Ana robot. 
+
+# Dependencies
+
+This node has the following dependencies:
+
+ * [iri_rosnav](https://gitlab.iri.upc.edu/labrobotica/ros/navigation/iri_rosnav)
+
+# Install
+
+This package, as well as all IRI dependencies, can be installed by cloning the
+repository inside the active workspace:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_rosnav.git 
+```
+
+However, this package is normally used as part of a wider installation (i.e. a
+robot, an experiment or a demosntration) which will normally include a complete
+rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
+
+# How to use it
+
+ * nav.launch: example using a navigation without a map and AMCL localization
+ * nav.launch: example using a navigation with a map and AMCL localization
+ * nav_mapping.launch: example using navigation with gmapping SLAM.
+ 
+ See its arguments for more detail on configuration possibilities.
\ No newline at end of file
diff --git a/launch/include/amcl.launch b/launch/include/amcl.launch
deleted file mode 100644
index 8ca8dfc561c4ab0c3dc0be38a94beea7b5a664db..0000000000000000000000000000000000000000
--- a/launch/include/amcl.launch
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <arg name="config"       default="$(find iri_ana_rosnav)/params/amcl_default.yaml"/>
-  <arg name="map_frame_id" default="map"/>
-  <arg name="initial_x"    default="0.0"/>
-  <arg name="initial_y"    default="0.0"/>
-  <arg name="initial_a"    default="0.0"/>
-
-  <node name="velodyne_scan"
-        pkg ="pointcloud_to_laserscan"
-        type="pointcloud_to_laserscan_node">
-    <param name="min_height" value="0.0"/>
-    <param name="max_height" value="2.0"/>
-    <param name="angle_min" value="-3.14159"/>
-    <param name="angle_max" value="3.15149"/>
-    <param name="angle_increment" value="0.007"/>
-    <param name="scan_time" value="0.1"/>
-    <param name="range_min" value="0.5"/>
-    <param name="range_max" value="100.0"/>
-    <param name="target_frame" value="/ana/base_link"/>
-    <param name="concurrency_level" value="1"/>
-    <param name="use_inf" value="true"/>
-    <remap from="~/cloud_in"
-             to="/ana/sensors/velodyne_points"/>
-    <remap from="~/scan"
-             to="/ana/sensors/velodyne_scan"/>
-  </node>
-
-  <node name="amcl"
-        pkg ="amcl"
-        type="amcl">
-    <remap from="~/scan" 
-             to="/ana/sensors/velodyne_scan"/>
-    <param name="odom_frame_id"    value="/ana/odom" />
-    <param name="base_frame_id"    value="/ana/base_link" />
-    <param name="global_frame_id"  value="$(arg map_frame_id)" />
-    <param name="initial_pose_x"   value="$(arg initial_x)" />
-    <param name="initial_pose_y"   value="$(arg initial_y)" />
-    <param name="initial_pose_a"   value="$(arg initial_a)" />
-    <rosparam file="$(arg config)" command="load"/>
-  </node>
-
-</launch>
diff --git a/launch/include/cmd_vel_mux.launch b/launch/include/cmd_vel_mux.launch
deleted file mode 100644
index 31e4f31f0e78610d45e42e6a08b7bebdca894c89..0000000000000000000000000000000000000000
--- a/launch/include/cmd_vel_mux.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <arg name="nodelet_manager_name"  value="nodelet_manager"/>
-  <arg name="config_file"           value="$(find helena_rosnav)/param/$(optenv ROBOT helena)_mux.yaml"/>
-
-  <node pkg ="nodelet" 
-        type="nodelet"
-        name="$(arg nodelet_manager_name)"
-        args="manager"/>
-
-  <node pkg ="nodelet"
-        type="nodelet"
-        name="cmd_vel_mux"
-        args="load yocs_cmd_vel_mux/CmdVelMuxNodelet $(arg nodelet_manager_name)">
-    <param name="yaml_cfg_file" value="$(arg config_file)"/>
-  </node>
-
-</launch>
diff --git a/launch/include/ekf.launch b/launch/include/ekf.launch
deleted file mode 100644
index 9bb47a26ed455f87f6bcba23c3cb4620fd1c1f2e..0000000000000000000000000000000000000000
--- a/launch/include/ekf.launch
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" />
-
-  <group ns="$(optenv ROBOT helena)">
-
-    <node pkg="robot_pose_ekf" 
-          type="robot_pose_ekf" 
-          name="robot_pose_ekf"
-          output="screen">
-      <param name="output_frame" value="$(optenv ROBOT helena)/odom"/>
-      <param name="base_footprint_frame" value="$(optenv ROBOT helena)/base_link"/>
-      <param name="freq" value="30.0"/>
-      <param name="sensor_timeout" value="2.0"/>
-      <param name="odom_used" value="true"/>
-      <param name="imu_used"  value="true"/>
-      <param name="vo_used"   value="false"/>
-      <param name="gps_used"  value="false"/>
-      <param name="debug" value="false"/>
-      <param name="self_diagnose" value="false"/>
-
-      <remap from="odom"     to="/$(optenv ROBOT helena)/odom0"/>
-      <remap from="imu_data" to="/$(optenv ROBOT helena)/sensors/imu"/>
-      <remap from="vo"       to="vo"/>
-      <remap from="gps"      to="gps"/>
-    </node>
-    
-    <node name="pose2odom" 
-          pkg="iri_msg_to_odom" 
-          type="posewcs_to_odom"
-          output="screen">
-        <param name="child_id" value="/$(optenv ROBOT helena)/base_link"/>
-        <param name="parent_id" value="/$(optenv ROBOT helena)/odom"/>
-        <param name="publish_tf" value="true"/>
-        <remap from="~/pose"
-                  to="/$(optenv ROBOT helena)/robot_pose_ekf/odom_combined"/>
-        <remap from="~/odom"
-                  to="/$(optenv ROBOT helena)/odom"/>
-    </node>
-
-  </group>
-
-</launch>
\ No newline at end of file
diff --git a/launch/include/gmapping_old.launch b/launch/include/gmapping_old.launch
deleted file mode 100644
index 2972155510343ce1326bb77afe8a0109ae6a6a7f..0000000000000000000000000000000000000000
--- a/launch/include/gmapping_old.launch
+++ /dev/null
@@ -1,64 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" />
-
-  <arg name="scan_topic" default="/$(optenv ROBOT helena)/sensors/front_laser_scan"/>
-  <arg name="resolution" default="0.05"/>
-  
-  <group ns="$(optenv ROBOT helena)"> 
-
-    <node name="gmapping"
-          pkg ="gmapping"
-          type="slam_gmapping"
-          machine="embedded">
-      <param name="odom_frame" value="/$(optenv ROBOT helena)/odom"/>
-      <param name="base_frame" value="/$(optenv ROBOT helena)/base_link"/>
-      <param name="map_frame"  value="/map"/>
-      <param name="map_update_interval" value="5.0"/>
-      <param name="maxUrange"  value="29.0"/>
-      <param name="sigma"      value="0.05"/>
-      <param name="kernelSize" value="1"/>
-      <param name="lstep"      value="0.05"/>
-      <param name="astep"      value="0.05"/>
-      <param name="iterations" value="5"/>
-      <param name="lsigma"     value="0.075"/>
-      <param name="ogain"      value="3.0"/>
-      <param name="lskip"      value="0"/>
-      <param name="srr" value="0.1"/>
-      <param name="srt" value="0.2"/>
-      <param name="str" value="0.1"/>
-      <param name="stt" value="0.2"/>
-      <param name="linearUpdate"      value="0.5"/>
-      <param name="angularUpdate"     value="0.5"/>
-      <param name="temporalUpdate"    value="10.0"/>
-      <param name="resampleThreshold" value="0.5"/>
-      <param name="particles"         value="80"/>
-
-      <param name="xmin" value="-5.0"/>
-      <param name="ymin" value="-5.0"/>
-      <param name="xmax" value="5.0"/>
-      <param name="ymax" value="5.0"/>
-
-      <param name="delta"         value="$(arg resolution)"/> <!-- map resolution -->
-      <param name="llsamplerange" value="0.01"/>
-      <param name="llsamplestep"  value="0.01"/>
-      <param name="lasamplerange" value="0.005"/>
-      <param name="lasamplestep"  value="0.005"/>
-      <remap from="scan"
-              to="$(arg scan_topic)"/>
-    </node>
-    
-  </group>
-
-  <!--
-  <node pkg="topic_tools"
-        type="relay"
-        name="map_relay"
-        machine="nav"
-        args="/map /$(optenv ROBOT helena)/map">
-  </node>
-  -->
-
-</launch>
diff --git a/launch/include/map_server.launch b/launch/include/map_server.launch
deleted file mode 100644
index 9de03d316685e7dbcf544b77918136287da769b8..0000000000000000000000000000000000000000
--- a/launch/include/map_server.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <arg name="map"          default="empty"/>
-  <arg name="map_frame_id" default="map"/>
-
-  <node name="map_server" 
-        pkg ="map_server" 
-        type="map_server" 
-        args="$(find iri_maps)/maps/$(arg map).yaml">
-    <param name="frame_id" value="$(arg map_frame_id)"/>
-  </node>
-
-</launch>
diff --git a/launch/include/move_base.launch b/launch/include/move_base.launch
deleted file mode 100644
index e1765316cd520e07ca819447841fb024500fb955..0000000000000000000000000000000000000000
--- a/launch/include/move_base.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <arg name="use_map"        default="true"/>
-  <arg name="local_planner"  default="dwa"/>
-  <arg name="global_planner" default="global"/>
-
-  <arg name="costmap_path" value="map" if="$(arg use_map)"/>
-  <arg name="costmap_path" value="no_map" unless="$(arg use_map)"/>
-
-  <node pkg ="move_base" 
-        type="move_base" 
-        name="move_base"
-        output="screen">
-    <remap from="cmd_vel" to="/ana/cmd_vel" />
-    <remap from="odom" to="/ana/odom" />
-
-    <rosparam file="$(find iri_ana_rosnav)/params/move_base_params.yaml"                     command="load" />
-    <rosparam file="$(find iri_ana_rosnav)/params/$(arg local_planner)/planner_params.yaml"  command="load" />
-    <rosparam file="$(find iri_ana_rosnav)/params/$(arg global_planner)/planner_params.yaml" command="load" />
-
-    <rosparam file="$(find iri_ana_rosnav)/params/costmap/common_params.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find iri_ana_rosnav)/params/costmap/local_params.yaml"  command="load" ns="local_costmap"/>
-
-    <rosparam file="$(find iri_ana_rosnav)/params/costmap/common_params.yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find iri_ana_rosnav)/params/costmap/$(arg costmap_path)/global_params.yaml" command="load" ns="global_costmap"/> 
-
-  </node>
-
-</launch>
diff --git a/launch/include/move_base_local.launch b/launch/include/move_base_local.launch
deleted file mode 100644
index 4b7b701b01bcd49ccc60a6d90419a35a3324aaea..0000000000000000000000000000000000000000
--- a/launch/include/move_base_local.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" />
-
-  <group ns="$(optenv ROBOT helena)"> 
-
-    <node pkg ="move_base" 
-          type="move_base" 
-          name="move_base"
-          output="screen"
-          machine="embedded">
-      <remap from="/$(optenv ROBOT helena)/cmd_vel" to="/$(optenv ROBOT helena)/navigation/cmd_vel" />
-      <remap from="/$(optenv ROBOT helena)/odom" to="/$(optenv ROBOT helena)/odom" />
-
-      <rosparam file="$(find helena_rosnav)/param/move_base_params.yaml"         command="load" />
-      <rosparam file="$(find helena_rosnav)/param/dwa_local_planner_params.yaml" command="load" />
-      <rosparam file="$(find helena_rosnav)/param/global_planner_params.yaml"    command="load" />
-
-      <rosparam file="$(find helena_rosnav)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
-      <rosparam file="$(find helena_rosnav)/param/local_costmap_params.yaml" command="load"  ns="local_costmap"/>
-
-      <rosparam file="$(find helena_rosnav)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
-      <rosparam file="$(find helena_rosnav)/param/global_costmap_params_no_map.yaml" command="load" ns="global_costmap"/> 
-
-    </node>
-
-  </group>
-
-</launch>
diff --git a/launch/include/move_base_with_prohibition.launch b/launch/include/move_base_with_prohibition.launch
deleted file mode 100644
index bcd0ea25d5e5ca12e05adf82001391dbc0a4ea76..0000000000000000000000000000000000000000
--- a/launch/include/move_base_with_prohibition.launch
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" />
-
-  <group ns="$(optenv ROBOT helena)"> 
-
-    <node pkg ="move_base" 
-          type="move_base" 
-          name="move_base"
-          output="log"
-          machine="embedded">
-      <remap from="/$(optenv ROBOT helena)/cmd_vel" to="/$(optenv ROBOT helena)/navigation/cmd_vel" />
-      <remap from="/$(optenv ROBOT helena)/odom" to="/$(optenv ROBOT helena)/odom" />
-
-      <rosparam file="$(find helena_rosnav)/param/move_base_params.yaml"         command="load" />
-      <rosparam file="$(find helena_rosnav)/param/dwa_local_planner_params.yaml" command="load" />
-      <rosparam file="$(find helena_rosnav)/param/global_planner_params.yaml"    command="load" />
-
-      <rosparam file="$(find helena_rosnav)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
-      <rosparam file="$(find helena_rosnav)/param/local_costmap_params.yaml" command="load"  ns="local_costmap"/>
-
-      <rosparam file="$(find helena_rosnav)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
-      <rosparam file="$(find helena_rosnav)/param/global_costmap_params.yaml" command="load" ns="global_costmap"/> 
-      
-      <rosparam file="$(find helena_rosnav)/param/prohibition_areas.yaml"   command="load" ns="global_costmap/costmap_prohibition_layer"/>
-
-    </node>
-
-  </group>
-
-</launch>
diff --git a/launch/include/velocity_smoother.launch b/launch/include/velocity_smoother.launch
deleted file mode 100644
index 807f034cbfb0629a2cacd51accb0be5c2e3f44b6..0000000000000000000000000000000000000000
--- a/launch/include/velocity_smoother.launch
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-  
-  <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" />  
-  
-  <arg name="node_name"             value="velocity_smoother"/>
-  <arg name="nodelet_manager_name"  value="nodelet_manager_velocity_smoother"/>
-  <arg name="config_file"           value="$(find helena_rosnav)/param/velocity_smoother.yaml"/>
-  <arg name="raw_cmd_vel_topic"     value="/$(optenv ROBOT helena)/mux/cmd_vel"/>
-  <arg name="smooth_cmd_vel_topic"  value="/$(optenv ROBOT helena)/cmd_vel"/>
-  <arg name="robot_cmd_vel_topic"   value="/$(optenv ROBOT helena)/cmd_vel"/>
-  <arg name="odom_topic"            value="/$(optenv ROBOT helena)/odom"/>
-  
-  <group ns="$(optenv ROBOT helena)">
-
-    <node pkg ="nodelet"
-          type="nodelet"
-          name="$(arg nodelet_manager_name)"
-          args="manager"
-          machine="embedded"/>
-    
-    <node pkg ="nodelet" 
-          type="nodelet"
-          name="$(arg node_name)"
-          args="load yocs_velocity_smoother/VelocitySmootherNodelet $(arg nodelet_manager_name)"
-          machine="embedded">
-      <rosparam file="$(arg config_file)" command="load"/>
-      <remap from="/$(optenv ROBOT helena)/$(arg node_name)/raw_cmd_vel"    to="$(arg raw_cmd_vel_topic)"/>
-      <remap from="/$(optenv ROBOT helena)/$(arg node_name)/smooth_cmd_vel" to="$(arg smooth_cmd_vel_topic)"/>
-      <remap from="/$(optenv ROBOT helena)/$(arg node_name)/robot_cmd_vel"  to="$(arg robot_cmd_vel_topic)"/>
-      <remap from="/$(optenv ROBOT helena)/$(arg node_name)/odometry"       to="$(arg odom_topic)"/>
-    </node>
-
-  </group>
-
-</launch>
diff --git a/launch/nav_local.launch b/launch/nav_local.launch
deleted file mode 100644
index dae03b9057d0bc97bf28d93dbd10c7800f93db49..0000000000000000000000000000000000000000
--- a/launch/nav_local.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-  
-  <include file="$(find helena_base)/machines/$(optenv ROBOT helena)_$(optenv ROS_MODE sim).machines" />
-  
-  <include file="$(find helena_rosnav)/launch/include/cmd_vel_mux.launch" />
-  <!--<include file="$(find helena_rosnav)/launch/include/velocity_smoother.launch" />-->
-  <include file="$(find helena_rosnav)/launch/include/move_base_local.launch" />
-
-</launch>