diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index e855b6a2fef55235a4415a87a7656c604b6997d3..2acf213470ca1693783ea4cf367d2b3037791d68 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -4,8 +4,7 @@
 
   <arg name="rviz"           default="true"/>
   <arg name="ns"             default="helena"/>
-  <arg name="pkg"            default="iri_helena_rosnav"/>
-    <arg name="path"           default="$(eval find(arg('pkg')))_lolo"/>
+  <arg name="path"           default="$(find iri_helena_rosnav)/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"/>
@@ -18,18 +17,15 @@
   <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="amcl_config"    default="$(arg path)/amcl.yaml"/>
     <arg name="initial_x"      default="0.0"/>
     <arg name="initial_y"      default="0.0"/>
     <arg name="initial_yaw"    default="0.0"/>
   <arg name="use_fake_loc"   default="false"/>
   <arg name="use_gmapping"   default="true"/>
     <arg name="gmapping_scan_topic" default="/$(arg ns)/sensors/scan"/>
-    <arg name="gmapping_config"     default="$(arg path)/$(arg param_subpath)/gmapping.yaml"/>
+    <arg name="gmapping_config"     default="$(arg path)/gmapping.yaml"/>
     <arg name="resolution"          default="0.1"/>
-  <arg name="use_cmd_vel_mux"      default="true"/>
-  <arg name="nodelet_manager_name" default="nodelet_manager"/>
-  <arg name="cmd_vel_mux_config"   default="$(arg path)/$(arg param_subpath)/mux.yaml"/>
   <arg name="local_planner"  default="dwa"/>
   <arg name="global_planner" default="global_planner"/>
   <arg name="output"         default="screen" />
@@ -38,7 +34,6 @@
   <include file="$(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)"/>
@@ -60,9 +55,6 @@
     <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)" />