diff --git a/config/adc_car_move_base/amcl_no_tf.yaml b/config/adc_rosnav/amcl_no_tf.yaml
similarity index 100%
rename from config/adc_car_move_base/amcl_no_tf.yaml
rename to config/adc_rosnav/amcl_no_tf.yaml
diff --git a/config/adc_car_move_base/costmap/common_params.yaml b/config/adc_rosnav/costmap/common_params.yaml
similarity index 100%
rename from config/adc_car_move_base/costmap/common_params.yaml
rename to config/adc_rosnav/costmap/common_params.yaml
diff --git a/config/adc_car_move_base/costmap/local_params.yaml b/config/adc_rosnav/costmap/local_params.yaml
similarity index 100%
rename from config/adc_car_move_base/costmap/local_params.yaml
rename to config/adc_rosnav/costmap/local_params.yaml
diff --git a/config/adc_car_move_base/costmap/map/global_params.yaml b/config/adc_rosnav/costmap/map/global_params.yaml
similarity index 100%
rename from config/adc_car_move_base/costmap/map/global_params.yaml
rename to config/adc_rosnav/costmap/map/global_params.yaml
diff --git a/config/adc_car_move_base/costmap/no_map/global_params.yaml b/config/adc_rosnav/costmap/no_map/global_params.yaml
similarity index 100%
rename from config/adc_car_move_base/costmap/no_map/global_params.yaml
rename to config/adc_rosnav/costmap/no_map/global_params.yaml
diff --git a/config/adc_car_move_base/costmap/no_map/sbpl_global_params.yaml b/config/adc_rosnav/costmap/no_map/sbpl_global_params.yaml
similarity index 100%
rename from config/adc_car_move_base/costmap/no_map/sbpl_global_params.yaml
rename to config/adc_rosnav/costmap/no_map/sbpl_global_params.yaml
diff --git a/config/adc_car_move_base/global_planner/global_planner_params.yaml b/config/adc_rosnav/global_planner/global_planner_params.yaml
similarity index 100%
rename from config/adc_car_move_base/global_planner/global_planner_params.yaml
rename to config/adc_rosnav/global_planner/global_planner_params.yaml
diff --git a/config/adc_car_move_base/global_planner/iri_opendrive_params.yaml b/config/adc_rosnav/global_planner/iri_opendrive_params.yaml
similarity index 100%
rename from config/adc_car_move_base/global_planner/iri_opendrive_params.yaml
rename to config/adc_rosnav/global_planner/iri_opendrive_params.yaml
diff --git a/config/adc_rosnav/gmapping.yaml b/config/adc_rosnav/gmapping.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..421e30c489c0c6e31389508a2fd53585669cb716
--- /dev/null
+++ b/config/adc_rosnav/gmapping.yaml
@@ -0,0 +1,32 @@
+map_update_interval: 5.0
+maxUrange: 5.0
+sigma: 0.05
+kernelSize: 1
+lstep: 0.05
+astep: 0.05
+iterations: 10
+lsigma: 0.075
+ogain: 3.0
+lskip: 0
+minimumScore: 0
+srr: 0.001
+srt: 0.002
+str: 0.001
+stt: 0.002
+linearUpdate: 0.05
+angularUpdate: 0.1
+temporalUpdate: -1.0
+resampleThreshold: 0.5
+particles: 800
+
+xmin: -5.0
+ymin: -5.0
+xmax: 5.0
+ymax: 5.0
+
+delta: 0.05
+llsamplerange: 0.01
+llsamplestep: 0.01
+lasamplerange: 0.005
+lasamplestep: 0.005
+maxRange: 6.0
diff --git a/config/adc_car_move_base/local_planner/ackermann_params.yaml b/config/adc_rosnav/local_planner/ackermann_params.yaml
similarity index 100%
rename from config/adc_car_move_base/local_planner/ackermann_params.yaml
rename to config/adc_rosnav/local_planner/ackermann_params.yaml
diff --git a/config/adc_car_move_base/local_planner/dwa_params.yaml b/config/adc_rosnav/local_planner/dwa_params.yaml
similarity index 100%
rename from config/adc_car_move_base/local_planner/dwa_params.yaml
rename to config/adc_rosnav/local_planner/dwa_params.yaml
diff --git a/config/adc_car_move_base/move_base_params.yaml b/config/adc_rosnav/move_base_params.yaml
similarity index 100%
rename from config/adc_car_move_base/move_base_params.yaml
rename to config/adc_rosnav/move_base_params.yaml
diff --git a/launch/adc_sim_mapping.launch b/launch/adc_mapping.launch
similarity index 70%
rename from launch/adc_sim_mapping.launch
rename to launch/adc_mapping.launch
index f0af00d63eb6be76a2b02c16ae90cd20a1381517..0fc628e86b14ffc886fd0968ec5cb2b287c7ff7f 100644
--- a/launch/adc_sim_mapping.launch
+++ b/launch/adc_mapping.launch
@@ -2,18 +2,21 @@
<!-- -->
<launch>
- <arg name="name" default="adc_car"/>
- <arg name="output" default="screen"/>
- <arg name="launch_prefix" default=""/>
- <arg name="opendrive_file_path" default="$(find iri_adc_launch)/data"/>
- <arg name="opendrive_file_name" default="sample"/>
-
- <arg name="resolution" default="0.05"/>
- <arg name="gazebo_gui" default="True"/>
+ <arg name="name" default="adc_car"/>
+ <arg name="move_base_params" default="move_base_params.yaml"/>
+ <arg name="costmap_common_params" default="common_params.yaml"/>
+ <arg name="costmap_local_params" default="local_params.yaml"/>
+ <arg name="costmap_global_params" default="global_params.yaml"/>
+ <arg name="map_frame_id" default="map"/>
+ <arg name="resolution" default="0.05"/>
+ <arg name="output" default="screen" />
+ <arg name="launch_prefix" default="" />
+ <arg name="opendrive_file_path" default="$(find iri_adc_launch)/data"/>
+ <arg name="opendrive_file_name" default="sample"/>
<include file="$(find iri_rosnav)/launch/nav.launch">
<arg name="ns" value="$(arg name)"/>
- <arg name="path" value="$(find iri_adc_launch)/config/$(arg name)_move_base"/>
+ <arg name="path" value="$(find iri_adc_launch)/config/adc_rosnav"/>
<arg name="move_base_params" value="move_base_params.yaml"/>
<arg name="costmap_common_params" value="common_params.yaml"/>
<arg name="costmap_local_params" value="local_params.yaml"/>
@@ -33,7 +36,7 @@
<arg name="use_fake_loc" value="false"/>
<arg name="use_gmapping" value="true"/>
<arg name="gmapping_scan_topic" value="/$(arg name)/sensors/scan"/>
- <arg name="gmapping_config" value="$(find iri_model_car_rosnav)/params/gmapping.yaml"/>
+ <arg name="gmapping_config" value="$(find iri_adc_launch)/config/adc_rosnav/gmapping.yaml"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="local_planner" value="ackermann"/>
<arg name="global_planner" value="iri_opendrive"/>