diff --git a/docs/keyboard_teleop.md b/docs/keyboard_teleop.md
deleted file mode 100644
index bd4648891b55c48e6b1454a8d87632eada0a2d8c..0000000000000000000000000000000000000000
--- a/docs/keyboard_teleop.md
+++ /dev/null
@@ -1,27 +0,0 @@
-# Keyboard teleopration
-
-To teleoperate the robot with the keyboard, either the real or the simulated robots must be running.
-
-To use the real robot, execute:
-
-```
-roslaunch iri_helena_bribgup helena_test.launch
-```
-
-More information on how to use the real robot is available [here]().
-
-To use the simulated robot, execute:
-
-```
-roslaunch iri_helena_gazebo sim_sample.launch
-```
-
-More information on how to use the simulated robot is available [here]().
-
-To start teleoprating the robot with the keyboard, execute:
-
-```
-roslaunch iri_helena_launch keyboard_teleop.launch.
-```
-
-See the onscreen information to change the maximum translational and rotational speed and also to send motion commands to the robot. More information can be found in the [telop_twist_keyboard wiki page](http://wiki.ros.org/teleop_twist_keyboard).
diff --git a/launch/demo.launch b/launch/demo.launch
deleted file mode 100644
index 255cb021a996d1fc1723fe7c9981b41edd27e98f..0000000000000000000000000000000000000000
--- a/launch/demo.launch
+++ /dev/null
@@ -1,43 +0,0 @@
-<?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/keyboard_teleop.launch b/launch/keyboard_teleop.launch
deleted file mode 100644
index fe1b792d369c541db744e5c343bf6c5993f99830..0000000000000000000000000000000000000000
--- a/launch/keyboard_teleop.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
- <arg name="ns" default="helena" />
- <arg name="path" default="$(find iri_teleop_launch)"/>
- <arg name="config_file" default="$(arg path)/config/keyboard_teleop.yaml" />
- <arg name="twist_topic" default="/$(arg ns)/cmd_vel"/>
- <arg name="output" default="screen" />
- <arg name="launch_prefix" default="" />
-
- <include file="$(find iri_teleop_launch)/launch/keyboard_teleop.launch">
- <arg name="ns" value="$(arg ns)"/>
- <arg name="path" value="$(arg path)"/>
- <arg name="config_file" value="$(arg config_file)"/>
- <arg name="twist_topic" value="$(arg twist_topic)"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
- </include>
-
-</launch>
diff --git a/launch/people.launch b/launch/people.launch
deleted file mode 100644
index 841c1eaf73f9072bdc688ad4f31452540a7af7f6..0000000000000000000000000000000000000000
--- a/launch/people.launch
+++ /dev/null
@@ -1,88 +0,0 @@
-<?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/teleop_ps3_bluetooth.launch
similarity index 100%
rename from launch/ps3_teleop.launch
rename to launch/teleop_ps3_bluetooth.launch
diff --git a/launch/teleop_ps3_cable.launch b/launch/teleop_ps3_cable.launch
new file mode 100644
index 0000000000000000000000000000000000000000..0ff4ce5cb2acf198efb2d10b2e42dfaf341b295b
--- /dev/null
+++ b/launch/teleop_ps3_cable.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+ <arg name="ns" default="helena" />
+ <arg name="config_file" default="$(find iri_teleop_launch)/config/ps3_cable_teleop.yaml"/>
+ <arg name="twist_topic" default="/$(arg ns)/teleop/cmd_vel"/>
+ <arg name="joy_topic" default="/$(arg ns)/joy"/>
+ <arg name="device" default="/dev/input/js0" />
+ <arg name="joy_config_file" default="$(find iri_teleop_launch)/config/joy.yaml"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+
+ <include file="$(find iri_teleop_launch)/launch/joystick_teleop.launch">
+ <arg name="ns" value="$(arg name)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ <arg name="config_file" value="$(arg config_file)"/>
+ <arg name="twist_topic" value="$(arg twist_topic)"/>
+ <arg name="joy_topic" value="$(arg joy_topic)"/>
+ <arg name="run_joy" value="true"/>
+ <arg name="device" value="$(arg device)" />
+ <arg name="joy_config_file" value="$(arg joy_config_file)"/>
+ </include>
+
+</launch>
+
diff --git a/package.xml b/package.xml
index 0c61ef959a03acec89143084699572c16e15d427..95049c6d8e47c10fffb79c0d85a80c017b47d7cf 100644
--- a/package.xml
+++ b/package.xml
@@ -57,4 +57,4 @@
<!-- Other tools can request additional information be placed here -->
</export>
-</package>
\ No newline at end of file
+</package>
diff --git a/param/joy_rosbag_record_param.yaml b/param/joy_rosbag_record_param.yaml
deleted file mode 100644
index 7382dd1255438d65be4309d86ef9ffce88d1d45e..0000000000000000000000000000000000000000
--- a/param/joy_rosbag_record_param.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-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
deleted file mode 100755
index 2479ae3b3abc6794290b192f56954261f468c248..0000000000000000000000000000000000000000
--- a/scripts/rosbag_record.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/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