diff --git a/launch/demo.launch b/launch/demo.launch
new file mode 100644
index 0000000000000000000000000000000000000000..255cb021a996d1fc1723fe7c9981b41edd27e98f
--- /dev/null
+++ b/launch/demo.launch
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="helena" />
+ <arg name="model" default="$(arg ns)"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_helena_bringup)/launch/bringup.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+
+ <include file="$(find iri_helena_description)/launch/description.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="model" value="$(arg model)"/>
+ <arg name="static_wheels" value="true"/>
+ </include>
+
+ <include file="$(find iri_helena_rosnav)/launch/nav_map.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="map_name" value="lab"/>
+ <arg name="rviz" value="false"/>
+ </include>
+
+ <include file="$(find iri_helena_launch)/launch/ps3_teleop.launch">
+ </include>
+
+ <include file="$(find iri_helena_launch)/launch/people.launch">
+ </include>
+
+ <include file="$(find iri_joy_rosbag_record)/launch/node.launch">
+ <arg name="node_name" default="joy_rosbag_record"/>
+ <arg name="joy_topic" default="$(arg ns)/joy"/>
+ <arg name="status_topic" default="~status"/>
+ <arg name="config_file" default="$(find iri_helena_launch)/param/joy_rosbag_record_param.yaml"/>
+ <arg name="default_path" default="$(env HOME)/rosbag"/>
+ </include>
+
+</launch>
diff --git a/launch/people.launch b/launch/people.launch
new file mode 100644
index 0000000000000000000000000000000000000000..841c1eaf73f9072bdc688ad4f31452540a7af7f6
--- /dev/null
+++ b/launch/people.launch
@@ -0,0 +1,88 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="ROBOT" default="helena" />
+
+ <node pkg ="iri_laser_people_detection"
+ type="iri_laser_people_detection"
+ name="lpd">
+ <param name="~rangeThreshold" type="double" value="0.0" />
+ <param name="~detectionThreshold" type="double" value="-0.05" />
+ <param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
+ <param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
+ <param name="~selectPosesFrame" type="bool" value="True" />
+ <param name="~posesFrame" type="string" value="map" />
+ <param name="~selectScanFrame" type="bool" value="False" />
+ <param name="~scanFrame" type="string" value="/$(arg ROBOT)/sensors/scan" />
+ <param name="~markerWidth" type="double" value="0.7" />
+ <param name="~markerHeight" type="double" value="0.5" />
+ <param name="~markerR" type="double" value="1.0" />
+ <param name="~markerG" type="double" value="0.0" />
+ <param name="~markerB" type="double" value="0.0" />
+ <param name="~markerA" type="double" value="0.5" />
+ <param name="~filterPosesMode" type="bool" value="False" />
+ <param name="~filterR" type="double" value="0.0" />
+ <param name="~filterX" type="double" value="0.0" />
+ <param name="~filterY" type="double" value="0.0" />
+ <remap from="~scan"
+ to="/$(arg ROBOT)/sensors/scan" />
+ <remap from="~people"
+ to="/$(arg ROBOT)/people" />
+ </node>
+
+ <node pkg ="iri_laser_people_map_filter"
+ type="iri_laser_people_map_filter"
+ name="lpmf">
+ <param name="~/neighborRadius" type="double" value="0.5" />
+ <param name="~/markerWidth" type="double" value="0.7" />
+ <param name="~/markerHeight" type="double" value="1.5" />
+ <param name="~/markerR" type="double" value="1.0" />
+ <param name="~/markerG" type="double" value="1.0" />
+ <param name="~/markerB" type="double" value="0.0" />
+ <param name="~/markerA" type="double" value="0.9" />
+ <param name="~/markerLifeTime" type="double" value="0.1" />
+ <remap from="~people"
+ to="/$(arg ROBOT)/people" />
+ <remap from="~peopleFiltered"
+ to="/$(arg ROBOT)/peopleMapFiltered" />
+ <remap from="~map"
+ to="/$(arg ROBOT)/map" />
+ </node>
+
+ <node pkg ="iri_people_tracking_mht"
+ type="iri_people_tracking_mht"
+ name="mht"
+ respawn="true">
+ <remap from="/mht/detections"
+ to="/$(arg ROBOT)/peopleMapFiltered" />
+ <remap from="/mht/odom"
+ to="/$(arg ROBOT)/odom" />
+ <param name="~/frame_id" type="string" value="/map" />
+ <param name="local_tracker" type="bool" value="false"/>
+ <param name="~/association_threshold" type="double" value="2.0" />
+ <param name="~/confirmation_threshold" type="double" value="0.9" />
+ <param name="~/deletion_threshold" type="double" value="0.4" />
+ <param name="~/laser_probability" type="double" value="0.9" />
+ <param name="~/laser_false_alarm" type="double" value="0.1" />
+ <param name="~/laser_new_track" type="double" value="0.11" />
+ <param name="~/laser_no_detection" type="double" value="0.99" />
+ <param name="~/laser_no_confirmed" type="double" value="0.02" />
+ <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
+ <param name="~/augment_covariance_track" type="double" value="0.15" />
+ <param name="~/id_markers" type="bool" value="True" />
+ <param name="~/vel_markers" type="bool" value="True" />
+ <param name="~/cov_markers" type="bool" value="True" />
+ <param name="~/covdet_markers" type="bool" value="False" />
+ <param name="~/covpred_markers" type="bool" value="False" />
+ <param name="~/clust_markers" type="bool" value="False" />
+ <param name="~/cov_markers_head" type="bool" value="False" />
+ <param name="~/cov_markers_arm1" type="bool" value="False" />
+ <param name="~/cov_markers_arm2" type="bool" value="False" />
+ <param name="~/track_path_markers" type="bool" value="False" />
+ <param name="~/mht_velocity_margin" type="double" value="0.5" />
+ </node>
+
+</launch>
+
+
diff --git a/launch/ps3_teleop.launch b/launch/ps3_teleop.launch
index 31d135a2867643956caaf0029c4b00caad8ecb2e..de5931b23e889f8733033c6ab4cba0da59e3a955 100644
--- a/launch/ps3_teleop.launch
+++ b/launch/ps3_teleop.launch
@@ -5,7 +5,7 @@
<arg name="ns" default="helena" />
<arg name="path" default="$(find iri_teleop_launch)"/>
<arg name="config_file" default="$(arg path)/config/ps3_bt_teleop.yaml" />
- <arg name="twist_topic" default="/$(arg ns)/cmd_vel"/>
+ <arg name="twist_topic" default="/$(arg ns)/teleop/cmd_vel"/>
<arg name="joy_topic" default="/$(arg ns)/joy"/>
<arg name="run_joy" default="true"/>
<arg name="device" default="/dev/input/js0" />
diff --git a/param/joy_rosbag_record_param.yaml b/param/joy_rosbag_record_param.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7382dd1255438d65be4309d86ef9ffce88d1d45e
--- /dev/null
+++ b/param/joy_rosbag_record_param.yaml
@@ -0,0 +1,6 @@
+cmd: "/opt/ros/kinetic/lib/rosbag/record"
+args: "/diagnostics /helena/map /helena/map_metadata /helena/odom /helena/sensors/scan /mht/tracks /mht/tracksMarkers /rosout /rosout_agg /tf /tf_static"
+path: "home/helena/rosbag"
+name_prefix: "data"
+start_button_id: 3
+stop_button_id: 0
diff --git a/scripts/rosbag_record.sh b/scripts/rosbag_record.sh
new file mode 100755
index 0000000000000000000000000000000000000000..2479ae3b3abc6794290b192f56954261f468c248
--- /dev/null
+++ b/scripts/rosbag_record.sh
@@ -0,0 +1,3 @@
+#!/bin/sh
+#rosbag record --all -x "(.*)theora(.*)||(.*)compressedDepth(.*)||(.*)parameter_updates(.*)||(.*)parameter_descriptions(.*)||/demo/usb_cam_node/image_raw"
+rosbag record /diagnostics /helena/map /helena/map_metadata /helena/odom /helena/sensors/scan /mht/tracks /mht/tracksMarkers /rosout /rosout_agg /tf /tf_static