diff --git a/config/helena_bno055.yaml b/config/helena_bno055.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d8cd7ddea9d4ed31def95622bd57573778f4a0d8
--- /dev/null
+++ b/config/helena_bno055.yaml
@@ -0,0 +1,4 @@
+update_rate: 1
+serial_device: '/dev/ttyUSB1'
+tf_prefix: '/'
+frame_id: 'imu'
diff --git a/config/pioneer_params.yaml b/config/helena_pioneer.yaml
similarity index 100%
rename from config/pioneer_params.yaml
rename to config/helena_pioneer.yaml
diff --git a/config/helena_rs16.yaml b/config/helena_rs16.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..417176d82b740a68f9acbd58892306b1251cc269
--- /dev/null
+++ b/config/helena_rs16.yaml
@@ -0,0 +1,14 @@
+##robosense_driver
+model: RS16
+device_ip: 192.168.1.200
+msop_port: 6699
+difop_port: 7788
+cut_angle: 0
+frame_id: /helena/robosense
+
+##robosense pointcloud
+max_distance: 200
+min_distance: 0.4
+resolution_type: 0.5cm
+intensity_mode: 1
+
diff --git a/config/hokuyo_utm30lx_eth.yaml b/config/hokuyo_utm30lx_eth.yaml
deleted file mode 100644
index b303910cf9d8f331f593e4e827fb6e6fe788c283..0000000000000000000000000000000000000000
--- a/config/hokuyo_utm30lx_eth.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-ip_address: '172.20.10.10'
-ip_port: 10940
-serial_port: ''
-serial_baud: 115200
-calibrate_time: false
-synchronize_time: false
-publish_intensity: true
-publish_multiecho: false
-error_limit: 4
-diagnostics_tolerance: 0.05
-diagnostics_window_time: 5.0
-get_detailed_status: false
-tf_prefix: 'helena'
-frame_id: 'rear_hokuyo_scan_frame'
-time_offset: 0.0
-angle_min: -2.36
-angle_max: 2.36
-cluster: 1
-skip: 0
diff --git a/config/hokuyo_utm30lx_usb.yaml b/config/hokuyo_utm30lx_usb.yaml
deleted file mode 100644
index 3dec89be6cb5f28b8f460cf0fc2e20a7b527fbde..0000000000000000000000000000000000000000
--- a/config/hokuyo_utm30lx_usb.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-ip_address: ''
-ip_port: 10940
-serial_port: '/dev/ttyACM0'
-serial_baud: 115200
-calibrate_time: false
-synchronize_time: false
-publish_intensity: true
-publish_multiecho: false
-error_limit: 4
-diagnostics_tolerance: 0.05
-diagnostics_window_time: 5.0
-get_detailed_status: false
-tf_prefix: 'helena'
-frame_id: 'front_hokuyo_scan_frame'
-time_offset: 0.0
-angle_min: -2.36
-angle_max: 2.36
-cluster: 1
-skip: 0
diff --git a/config/joy_params.yaml b/config/joy_params.yaml
deleted file mode 100644
index 082b5bfe0a271455d14e1fef2e2e175a1e2f1829..0000000000000000000000000000000000000000
--- a/config/joy_params.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-dev: /dev/input/ps3joy
-#dev_ff: /dev/input/by-id/usb-Sony_PLAYSTATION_R_3_Controller-event-joystick
-#dev_name: ""
-deadzone: 0.05
-autorepeat_rate: 0
-coalesce_interval: 0.001
-default_trig_val: false
-sticky buttons: false
\ No newline at end of file