diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index 8a41bb0234814f8132e1743c546f0ba40cbacc0a..28c624e25b860755300b6614edc5db680120bece 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -2,78 +2,57 @@
 <!-- -->
 <launch>
 
-  <arg name="rviz"           default="true"/>
-  <arg name="ns"             default="ana"/>
-  <arg name="pkg"            default="iri_ana_rosnav"/>
-    <arg name="path"         default="$(eval find(arg('pkg')))"/>
-  <arg name="param_subpath" default="params"/>
-  <arg name="map_frame_id"   default="map"/>
-  <arg name="odom_frame_id"  default="$(arg ns)/odom"/>
-  <arg name="base_frame_id"  default="$(arg ns)/base_footprint"/>
-  <arg name="map_topic"      default="/$(arg ns)/map"/>
-  <arg name="map_service"    default="/$(arg ns)/static_map"/>
-  <arg name="odom_topic"     default="/$(arg ns)/odom"/>
-  <arg name="cmd_vel_topic"  default="/$(arg ns)/navigation/cmd_vel"/>
-  <arg name="scan_topic"     default="/$(arg ns)/sensors/scan"/>
-  <arg name="use_map"        default="true"/>
-  <arg name="use_map_server" default="true"/>
-    <arg name="map_name"      />
-  <arg name="use_amcl"       default="true"/>
-    <arg name="amcl_config"    default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
-    <arg name="initial_x"      default="0.0"/>
-    <arg name="initial_y"      default="0.0"/>
-    <arg name="initial_yaw"    default="0.0"/>
-  <arg name="use_fake_loc"   default="false"/>
-  <arg name="use_gmapping"   default="false"/>
-    <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
-    <arg name="gmapping_config"     default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
-    <arg name="resolution"          default="0.1"/>
-  <arg name="use_cmd_vel_mux"      default="true"/>
-  <arg name="nodelet_manager_name" default="nodelet_manager"/>
-  <arg name="cmd_vel_mux_config"   default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
-  <arg name="local_planner"  default="dwa"/>
-  <arg name="global_planner" default="global_planner"/>
-  <arg name="output"         default="screen" />
-  <arg name="launch_prefix"  default="" />
+  <arg name="rviz"                    default="true"/>
+  <arg name="rviz_file"               default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
+  <arg name="move_base_params"        default="move_base_params.yaml"/>
+  <arg name="costmap_common_params"   default="common_params.yaml"/>
+  <arg name="costmap_local_params"    default="local_params.yaml"/>
+  <arg name="costmap_global_params"   default="global_params.yaml"/>
+  <arg name="map_name"/>
+  <arg name="initial_x"               default="0.0"/>
+  <arg name="initial_y"               default="0.0"/>
+  <arg name="initial_yaw"             default="0.0"/>
+  <arg name="local_planner"           default="dwa"/>
+  <arg name="global_planner"          default="global_planner"/>
+  <arg name="output"                  default="screen" />
+  <arg name="launch_prefix"           default="" />
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
-    <arg name="ns"             value="$(arg ns)"/>
-    <arg name="path"           value="$(arg path)"/>
-    <arg name="param_subpath"  value="$(arg param_subpath)"/>
-    <arg name="map_frame_id"   value="$(arg map_frame_id)"/>
-    <arg name="odom_frame_id"  value="$(arg odom_frame_id)"/>
-    <arg name="base_frame_id"  value="$(arg base_frame_id)"/>
-    <arg name="map_topic"      value="$(arg map_topic)"/>
-    <arg name="map_service"    value="$(arg map_service)"/>
-    <arg name="odom_topic"     value="$(arg odom_topic)"/>
-    <arg name="cmd_vel_topic"  value="$(arg cmd_vel_topic)"/>
-    <arg name="scan_topic"     value="$(arg scan_topic)"/>
-    <arg name="use_map"        value="$(arg use_map)"/>
-    <arg name="use_map_server" value="$(arg use_map_server)"/> 
-    <arg name="map_name"       value="$(arg map_name)"/>
-    <arg name="use_amcl"       value="$(arg use_amcl)"/>
-    <arg name="amcl_config"    value="$(arg amcl_config)"/>
-    <arg name="initial_x"      value="$(arg initial_x)"/>
-    <arg name="initial_y"      value="$(arg initial_y)"/>
-    <arg name="initial_yaw"    value="$(arg initial_yaw)"/>
-    <arg name="use_fake_loc"   value="$(arg use_fake_loc)"/>
-    <arg name="use_gmapping"        value="$(arg use_gmapping)"/>
-    <arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
-    <arg name="gmapping_config"     value="$(arg gmapping_config)"/>
-    <arg name="resolution"          value="$(arg resolution)"/>
-    <arg name="use_cmd_vel_mux"      value="$(arg use_cmd_vel_mux)"/>
-    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
-    <arg name="cmd_vel_mux_config"   value="$(arg cmd_vel_mux_config)"/>
-    <arg name="local_planner"  value="$(arg local_planner)"/>
-    <arg name="global_planner" value="$(arg global_planner)"/>
-    <arg name="output"         value="$(arg output)" />
-    <arg name="launch_prefix"  value="$(arg launch_prefix)" />
+    <arg name="ns"                    value="ana"/>
+    <arg name="path"                  value="$(find iri_ana_rosnav)/params"/>
+    <arg name="move_base_params"      value="$(arg move_base_params)"/>
+    <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+    <arg name="costmap_local_params"  value="$(arg costmap_local_params)"/>
+    <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+    <arg name="map_frame_id"          value="map"/>
+    <arg name="odom_frame_id"         value="ana/odom"/>
+    <arg name="base_frame_id"         value="ana/base_footprint"/>
+    <arg name="map_topic"             value="/ana/map"/>
+    <arg name="map_service"           value="/ana/static_map"/>
+    <arg name="odom_topic"            value="/ana/odom"/>
+    <arg name="cmd_vel_topic"         value="/ana/navigation/cmd_vel"/>
+    <arg name="scan_topic"            value="/ana/sensors/scan"/>
+    <arg name="use_map"               value="true"/>
+    <arg name="use_map_server"        value="true"/> 
+    <arg name="map_name"              value="$(arg map_name)"/>
+    <arg name="use_amcl"              value="true"/>
+    <arg name="amcl_config"           value="$(find iri_ana_rosnav)/params/amcl.yaml"/>
+    <arg name="initial_x"             value="$(arg initial_x)"/>
+    <arg name="initial_y"             value="$(arg initial_y)"/>
+    <arg name="initial_yaw"           value="$(arg initial_yaw)"/>
+    <arg name="use_fake_loc"          value="false"/>
+    <arg name="use_gmapping"          value="false"/>
+    <arg name="local_planner"         value="$(arg local_planner)"/>
+    <arg name="global_planner"        value="$(arg global_planner)"/>
+    <arg name="output"                value="$(arg output)" />
+    <arg name="launch_prefix"         value="$(arg launch_prefix)" />
   </include>
   
-  <include file="$(find iri_ana_rosnav)/launch/include/pointcloud_to_laserscan.launch">
-    <arg name="ns"             value="$(arg ns)"/>
-    <arg name="scan_topic"     value="$(arg scan_topic)"/>
-    <arg name="cloud_topic"    value="/$(arg ns)/sensors/velodyne_points"/>
+  <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
+    <arg name="ns"             value="ana"/>
+    <arg name="node_name"      value="pcl_to_laserscan"/>
+    <arg name="scan_topic"     value="/ana/sensors/scan"/>
+    <arg name="cloud_topic"    value="/ana/sensors/velodyne_points"/>
     <arg name="output"         value="$(arg output)" />
     <arg name="launch_prefix"  value="$(arg launch_prefix)" />
   </include>
@@ -82,7 +61,7 @@
         pkg="rviz"
         type="rviz"
         if="$(arg rviz)"
-        args="-d $(arg path)/rviz/$(arg ns).rviz">
+        args="-d $(arg rviz_file)">
   </node>
 
 </launch>
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index 9925423ff411a6fb9a056c9c2e47a84da249262d..cfa6b9d6e17b61dcc0ffde98cd3c66e2a6a162ee 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -2,78 +2,52 @@
 <!-- -->
 <launch>
 
-  <arg name="rviz"           default="true"/>
-  <arg name="ns"             default="ana"/>
-  <arg name="pkg"            default="iri_ana_rosnav"/>
-    <arg name="path"         default="$(eval find(arg('pkg')))"/>
-  <arg name="param_subpath" default="params"/>
-  <arg name="map_frame_id"   default="map"/>
-  <arg name="odom_frame_id"  default="$(arg ns)/odom"/>
-  <arg name="base_frame_id"  default="$(arg ns)/base_footprint"/>
-  <arg name="map_topic"      default="/$(arg ns)/map"/>
-  <arg name="map_service"    default="/$(arg ns)/static_map"/>
-  <arg name="odom_topic"     default="/$(arg ns)/odom"/>
-  <arg name="cmd_vel_topic"  default="/$(arg ns)/navigation/cmd_vel"/>
-  <arg name="scan_topic"     default="/$(arg ns)/sensors/scan"/>
-  <arg name="use_map"        default="true"/>
-  <arg name="use_map_server" default="false"/>
-    <arg name="map_name"       default="empty"/>
-  <arg name="use_amcl"       default="false"/>
-    <arg name="amcl_config"    default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
-    <arg name="initial_x"      default="0.0"/>
-    <arg name="initial_y"      default="0.0"/>
-    <arg name="initial_yaw"    default="0.0"/>
-  <arg name="use_fake_loc"   default="false"/>
-  <arg name="use_gmapping"   default="true"/>
-    <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
-    <arg name="gmapping_config"     default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
-    <arg name="resolution"          default="0.1"/>
-  <arg name="use_cmd_vel_mux"      default="true"/>
-  <arg name="nodelet_manager_name" default="nodelet_manager"/>
-  <arg name="cmd_vel_mux_config"   default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
-  <arg name="local_planner"  default="dwa"/>
-  <arg name="global_planner" default="global_planner"/>
-  <arg name="output"         default="screen" />
-  <arg name="launch_prefix"  default="" />
+  <arg name="rviz"                    default="true"/>
+  <arg name="move_base_params"        default="move_base_params.yaml"/>
+  <arg name="costmap_common_params"   default="common_params.yaml"/>
+  <arg name="costmap_local_params"    default="local_params.yaml"/>
+  <arg name="costmap_global_params"   default="global_params.yaml"/>
+  <arg name="map_frame_id"            default="map"/>
+  <arg name="resolution"              default="0.1"/>
+  <arg name="local_planner"           default="dwa"/>
+  <arg name="global_planner"          default="global_planner"/>
+  <arg name="output"                  default="screen" />
+  <arg name="launch_prefix"           default="" />
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
-    <arg name="ns"             value="$(arg ns)"/>
-    <arg name="path"           value="$(arg path)"/>
-    <arg name="param_subpath"  value="$(arg param_subpath)"/>
-    <arg name="map_frame_id"   value="$(arg map_frame_id)"/>
-    <arg name="odom_frame_id"  value="$(arg odom_frame_id)"/>
-    <arg name="base_frame_id"  value="$(arg base_frame_id)"/>
-    <arg name="map_topic"      value="$(arg map_topic)"/>
-    <arg name="map_service"    value="$(arg map_service)"/>
-    <arg name="odom_topic"     value="$(arg odom_topic)"/>
-    <arg name="cmd_vel_topic"  value="$(arg cmd_vel_topic)"/>
-    <arg name="scan_topic"     value="$(arg scan_topic)"/>
-    <arg name="use_map"        value="$(arg use_map)"/>
-    <arg name="use_map_server" value="$(arg use_map_server)"/> 
-    <arg name="map_name"       value="$(arg map_name)"/>
-    <arg name="use_amcl"       value="$(arg use_amcl)"/>
-    <arg name="amcl_config"    value="$(arg amcl_config)"/>
-    <arg name="initial_x"      value="$(arg initial_x)"/>
-    <arg name="initial_y"      value="$(arg initial_y)"/>
-    <arg name="initial_yaw"    value="$(arg initial_yaw)"/>
-    <arg name="use_fake_loc"   value="$(arg use_fake_loc)"/>
-    <arg name="use_gmapping"        value="$(arg use_gmapping)"/>
-    <arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
-    <arg name="gmapping_config"     value="$(arg gmapping_config)"/>
-    <arg name="resolution"          value="$(arg resolution)"/>
-    <arg name="use_cmd_vel_mux"      value="$(arg use_cmd_vel_mux)"/>
-    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
-    <arg name="cmd_vel_mux_config"   value="$(arg cmd_vel_mux_config)"/>
-    <arg name="local_planner"  value="$(arg local_planner)"/>
-    <arg name="global_planner" value="$(arg global_planner)"/>
-    <arg name="output"         value="$(arg output)" />
-    <arg name="launch_prefix"  value="$(arg launch_prefix)" />
+    <arg name="ns"                    value="ana"/>
+    <arg name="path"                  value="$(find iri_ana_rosnav)/params"/>
+    <arg name="move_base_params"      value="$(arg move_base_params)"/>
+    <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+    <arg name="costmap_local_params"  value="$(arg costmap_local_params)"/>
+    <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+    <arg name="map_frame_id"          value="map"/>
+    <arg name="odom_frame_id"         value="ana/odom"/>
+    <arg name="base_frame_id"         value="ana/base_footprint"/>
+    <arg name="map_topic"             value="/ana/map"/>
+    <arg name="map_service"           value="/ana/static_map"/>
+    <arg name="odom_topic"            value="/ana/odom"/>
+    <arg name="cmd_vel_topic"         value="/ana/navigation/cmd_vel"/>
+    <arg name="scan_topic"            value="/ana_sensors/scan"/>
+    <arg name="use_map"               value="true"/>
+    <arg name="use_map_server"        value="false"/> 
+    <arg name="map_name"              value="empty"/>
+    <arg name="use_amcl"              value="false"/>
+    <arg name="use_fake_loc"          value="false"/>
+    <arg name="use_gmapping"          value="true"/>
+    <arg name="gmapping_scan_topic"   value="/ana/sensors/scan"/>
+    <arg name="gmapping_config"       value="$(find iri_ana_rosnav)/params/gmapping.yaml"/>
+    <arg name="resolution"            value="$(arg resolution"/>
+    <arg name="local_planner"         value="$(arg local_planner)"/>
+    <arg name="global_planner"        value="$(arg global_planner)"/>
+    <arg name="output"                value="$(arg output)" />
+    <arg name="launch_prefix"         value="$(arg launch_prefix)" />
   </include>
   
   <include file="$(find iri_ana_rosnav)/launch/include/pointcloud_to_laserscan.launch">
-    <arg name="ns"             value="$(arg ns)"/>
-    <arg name="scan_topic"     value="$(arg scan_topic)"/>
-    <arg name="cloud_topic"    value="/$(arg ns)/sensors/velodyne_points"/>
+    <arg name="ns"             value="ana"/>
+    <arg name="scan_topic"     value="/ana/sensors/scan"/>
+    <arg name="cloud_topic"    value="/ana/sensors/velodyne_points"/>
     <arg name="output"         value="$(arg output)" />
     <arg name="launch_prefix"  value="$(arg launch_prefix)" />
   </include>
@@ -82,7 +56,7 @@
         pkg="rviz"
         type="rviz"
         if="$(arg rviz)"
-        args="-d $(arg path)/rviz/$(arg ns).rviz">
+        args="-d $(find iri_ana_rosnav)/rviz/ana.rviz">
   </node>
 
 </launch>
diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index 3b4e9ebab8149c78b8805cf7404504d7ba732d3f..3ade41879e811cd732617816bc8bd118c9924856 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -2,78 +2,48 @@
 <!-- -->
 <launch>
 
-  <arg name="rviz"           default="true"/>
-  <arg name="ns"             default="ana"/>
-  <arg name="pkg"            default="iri_ana_rosnav"/>
-    <arg name="path"         default="$(eval find(arg('pkg')))"/>
-  <arg name="param_subpath" default="params"/>
-  <arg name="map_frame_id"   default="map"/>
-  <arg name="odom_frame_id"  default="$(arg ns)/odom"/>
-  <arg name="base_frame_id"  default="$(arg ns)/base_footprint"/>
-  <arg name="map_topic"      default="/$(arg ns)/map"/>
-  <arg name="map_service"    default="/$(arg ns)/static_map"/>
-  <arg name="odom_topic"     default="/$(arg ns)/odom"/>
-  <arg name="cmd_vel_topic"  default="/$(arg ns)/navigation/cmd_vel"/>
-  <arg name="scan_topic"     default="/$(arg ns)/sensors/scan"/>
-  <arg name="use_map"        default="false"/>
-  <arg name="use_map_server" default="false"/>
-    <arg name="map_name"       default="empty"/>
-  <arg name="use_amcl"       default="false"/>
-    <arg name="amcl_config"    default="$(arg path)/$(arg param_subpath)/amcl.yaml"/>
-    <arg name="initial_x"      default="0.0"/>
-    <arg name="initial_y"      default="0.0"/>
-    <arg name="initial_yaw"    default="0.0"/>
-  <arg name="use_fake_loc"   default="false"/>
-  <arg name="use_gmapping"   default="false"/>
-    <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
-    <arg name="gmapping_config"     default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
-    <arg name="resolution"          default="0.1"/>
-  <arg name="use_cmd_vel_mux"      default="true"/>
-  <arg name="nodelet_manager_name" default="nodelet_manager"/>
-  <arg name="cmd_vel_mux_config"   default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
-  <arg name="local_planner"  default="dwa"/>
-  <arg name="global_planner" default="global_planner"/>
-  <arg name="output"         default="screen" />
-  <arg name="launch_prefix"  default="" />
+  <arg name="rviz"                    default="true"/>
+  <arg name="move_base_params"        default="move_base_params.yaml"/>
+  <arg name="costmap_common_params"   default="common_params.yaml"/>
+  <arg name="costmap_local_params"    default="local_params.yaml"/>
+  <arg name="costmap_global_params"   default="global_params.yaml"/>
+  <arg name="local_planner"           default="dwa"/>
+  <arg name="global_planner"          default="global_planner"/>
+  <arg name="output"                  default="screen" />
+  <arg name="launch_prefix"           default="" />
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
-    <arg name="ns"             value="$(arg ns)"/>
-    <arg name="path"           value="$(arg path)"/>
-    <arg name="param_subpath"  value="$(arg param_subpath)"/>
-    <arg name="map_frame_id"   value="$(arg map_frame_id)"/>
-    <arg name="odom_frame_id"  value="$(arg odom_frame_id)"/>
-    <arg name="base_frame_id"  value="$(arg base_frame_id)"/>
-    <arg name="map_topic"      value="$(arg map_topic)"/>
-    <arg name="map_service"    value="$(arg map_service)"/>
-    <arg name="odom_topic"     value="$(arg odom_topic)"/>
-    <arg name="cmd_vel_topic"  value="$(arg cmd_vel_topic)"/>
-    <arg name="scan_topic"     value="$(arg scan_topic)"/>
-    <arg name="use_map"        value="$(arg use_map)"/>
-    <arg name="use_map_server" value="$(arg use_map_server)"/> 
-    <arg name="map_name"       value="$(arg map_name)"/>
-    <arg name="use_amcl"       value="$(arg use_amcl)"/>
-    <arg name="amcl_config"    value="$(arg amcl_config)"/>
-    <arg name="initial_x"      value="$(arg initial_x)"/>
-    <arg name="initial_y"      value="$(arg initial_y)"/>
-    <arg name="initial_yaw"    value="$(arg initial_yaw)"/>
-    <arg name="use_fake_loc"   value="$(arg use_fake_loc)"/>
-    <arg name="use_gmapping"        value="$(arg use_gmapping)"/>
-    <arg name="gmapping_scan_topic" value="/$(arg gmapping_scan_topic)"/>
-    <arg name="gmapping_config"     value="$(arg gmapping_config)"/>
-    <arg name="resolution"          value="$(arg resolution)"/>
-    <arg name="use_cmd_vel_mux"      value="$(arg use_cmd_vel_mux)"/>
-    <arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
-    <arg name="cmd_vel_mux_config"   value="$(arg cmd_vel_mux_config)"/>
-    <arg name="local_planner"  value="$(arg local_planner)"/>
-    <arg name="global_planner" value="$(arg global_planner)"/>
-    <arg name="output"         value="$(arg output)" />
-    <arg name="launch_prefix"  value="$(arg launch_prefix)" />
+    <arg name="ns"                    value="ana"/>
+    <arg name="path"                  value="$(find iri_ana_rosnav)/params"/>
+    <arg name="move_base_params"      value="$(arg move_base_params)"/>
+    <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
+    <arg name="costmap_local_params"  value="$(arg costmap_local_params)"/>
+    <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
+    <arg name="map_frame_id"          value="map"/>
+    <arg name="odom_frame_id"         value="ana/odom"/>
+    <arg name="base_frame_id"         value="ana/base_footprint"/>
+    <arg name="map_topic"             value="/ana/map"/>
+    <arg name="map_service"           value="/ana/static_map"/>
+    <arg name="odom_topic"            value="/ana/odom"/>
+    <arg name="cmd_vel_topic"         value="/ana/navigation/cmd_vel"/>
+    <arg name="scan_topic"            value="/ana/sensors/scan"/>
+    <arg name="use_map"               value="false"/>
+    <arg name="use_map_server"        value="false"/> 
+    <arg name="map_name"              value="empty"/>
+    <arg name="use_amcl"              value="false"/>
+    <arg name="use_fake_loc"          value="false"/>
+    <arg name="use_gmapping"          value="false"/>
+    <arg name="local_planner"         value="$(arg local_planner)"/>
+    <arg name="global_planner"        value="$(arg global_planner)"/>
+    <arg name="output"                value="$(arg output)" />
+    <arg name="launch_prefix"         value="$(arg launch_prefix)" />
   </include>
   
-  <include file="$(find iri_ana_rosnav)/launch/include/pointcloud_to_laserscan.launch">
-    <arg name="ns"             value="$(arg ns)"/>
-    <arg name="scan_topic"     value="$(arg scan_topic)"/>
-    <arg name="cloud_topic"    value="/$(arg ns)/sensors/velodyne_points"/>
+  <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
+    <arg name="ns"             value="ana"/>
+    <arg name="node_name"      value="pcl_to_laserscan"/>
+    <arg name="scan_topic"     value="/ana/sensors/scan"/>
+    <arg name="cloud_topic"    value="/ana/sensors/velodyne_points"/>
     <arg name="output"         value="$(arg output)" />
     <arg name="launch_prefix"  value="$(arg launch_prefix)" />
   </include>
@@ -82,7 +52,7 @@
         pkg="rviz"
         type="rviz"
         if="$(arg rviz)"
-        args="-d $(arg path)/rviz/$(arg ns).rviz">
+        args="-d $(find iri_ana_rosnav)/rviz/ana.rviz">
   </node>
 
 </launch>