diff --git a/launch/adc_sim_mapping.launch b/launch/adc_sim_mapping.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f0af00d63eb6be76a2b02c16ae90cd20a1381517
--- /dev/null
+++ b/launch/adc_sim_mapping.launch
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="name"                        default="adc_car"/>
+  <arg name="output"                      default="screen"/>
+  <arg name="launch_prefix"               default=""/>
+  <arg name="opendrive_file_path"         default="$(find iri_adc_launch)/data"/>
+  <arg name="opendrive_file_name"         default="sample"/>
+
+  <arg name="resolution"                  default="0.05"/>
+  <arg name="gazebo_gui"                  default="True"/>
+
+  <include file="$(find iri_rosnav)/launch/nav.launch">
+    <arg name="ns"                    value="$(arg name)"/>
+    <arg name="path"                  value="$(find iri_adc_launch)/config/$(arg name)_move_base"/>
+    <arg name="move_base_params"      value="move_base_params.yaml"/>
+    <arg name="costmap_common_params" value="common_params.yaml"/>
+    <arg name="costmap_local_params"  value="local_params.yaml"/>
+    <arg name="costmap_global_params" value="global_params.yaml"/>
+    <arg name="map_frame_id"          value="map"/>
+    <arg name="odom_frame_id"         value="$(arg name)/odom"/>
+    <arg name="base_frame_id"         value="$(arg name)/base_footprint"/>
+    <arg name="map_topic"             value="/$(arg name)/map"/>
+    <arg name="map_service"           value="/$(arg name)/static_map"/>
+    <arg name="odom_topic"            value="/$(arg name)/local_odom_combined"/>
+    <arg name="cmd_vel_topic"         value="/$(arg name)/navigation/cmd_vel"/>
+    <arg name="scan_topic"            value="/$(arg name)/sensors/scan"/>
+    <arg name="use_map"               value="true"/>
+    <arg name="use_map_server"        value="false"/>
+    <arg name="map_name"              value="empty"/>
+    <arg name="use_amcl"              value="false"/>
+    <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="resolution"            value="$(arg resolution)"/>
+    <arg name="local_planner"         value="ackermann"/>
+    <arg name="global_planner"        value="iri_opendrive"/>
+    <arg name="output"                value="$(arg output)" />
+    <arg name="launch_prefix"         value="$(arg launch_prefix)" />
+  </include>
+
+  <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
+
+</launch>
diff --git a/launch/sim_navigation.launch b/launch/adc_sim_navigation.launch
similarity index 98%
rename from launch/sim_navigation.launch
rename to launch/adc_sim_navigation.launch
index 7f082afed5fbfd1b1b7efe6e359e58e868098874..8b6d6e29671c3dc3ca2d3939e789f2ff07cac925 100644
--- a/launch/sim_navigation.launch
+++ b/launch/adc_sim_navigation.launch
@@ -12,7 +12,7 @@
 
   <arg name="gazebo_gui"                  default="True"/>
   <arg name="car_x"                       default="0.0"/>
-  <arg name="car_y"                       default="-0.22"/>
+  <arg name="car_y"                       default="0.0"/>
   <arg name="car_yaw"                     default="0.0"/>
 
   <include file="$(find iri_rosnav)/launch/nav.launch">
diff --git a/launch/adc_sim_teleop.launch b/launch/adc_sim_teleop.launch
index 9d426bd087cd263d6045335a630c45fc585af101..2a6a0e4cb9a5aa2c270caa2493aaaacd504595ab 100644
--- a/launch/adc_sim_teleop.launch
+++ b/launch/adc_sim_teleop.launch
@@ -11,23 +11,6 @@
   <arg name="car_y"                       default="0.0"/>
   <arg name="car_yaw"                     default="0.0"/>
 
-  <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
-    <arg name="name"                       value="adc_car"/>
-    <arg name="output"                     value="$(arg output)"/>
-    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
-    <arg name="world"                      value="$(arg world)"/>
-    <arg name="gazebo_gui"                 value="$(arg gazebo_gui)"/>
-    <arg name="car_x"                      value="$(arg car_x)"/>
-    <arg name="car_y"                      value="$(arg car_y)"/>
-    <arg name="car_yaw"                    value="$(arg car_yaw)"/>
-    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_car"/>
-    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
-    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
-    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_car_odometry_params.yaml"/>
-    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
-    <arg name="standalone"                 value="True"/>
-  </include>
-
   <include file="$(find iri_model_car_launch)/launch/teleop_rqt.launch">
     <arg name="name"             value="adc_car"/>
     <arg name="output"           value="$(arg output)"/>
@@ -36,10 +19,4 @@
     <arg name="config_file"      value="$(find iri_adc_launch)/config/teleop_config.yaml" />
   </include>
 
-  <node name="rviz"
-        pkg="rviz"
-        type="rviz"
-        args="-d $(find iri_adc_launch)/rviz/teleop.rviz">
-  </node>
-
 </launch>
diff --git a/launch/sim_mapping.launch b/launch/sim_mapping.launch
deleted file mode 100644
index 9a1547e3f204c20ef413a926f6e0ef746191be73..0000000000000000000000000000000000000000
--- a/launch/sim_mapping.launch
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0"?>
-<!-- -->
-<launch>
-
-  <arg name="name"                        default="adc_car"/>
-  <arg name="circuit"                     default="sample"/>
-  <arg name="output"                      default="screen"/>
-  <arg name="launch_prefix"               default=""/>
-
-  <arg name="resolution"                  default="0.05"/>
-  <arg name="world"                       default="empty"/>
-  <arg name="gazebo_gui"                  default="True"/>
-  <arg name="car_x"                       default="0.0"/>
-  <arg name="car_y"                       default="0.0"/>
-  <arg name="car_yaw"                     default="0.0"/>
-
-  <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
-    <arg name="name"                       value="$(arg name)"/>
-    <arg name="output"                     value="$(arg output)"/>
-    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
-    <arg name="world"                      value="$(arg world)"/>
-    <arg name="gazebo_gui"                 value="$(arg gazebo_gui)"/>
-    <arg name="car_x"                      value="$(arg car_x)"/>
-    <arg name="car_y"                      value="$(arg car_y)"/>
-    <arg name="car_yaw"                    value="$(arg car_yaw)"/>
-    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/$(arg name)"/>
-    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/$(arg name)_controller_config.yaml"/>
-    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/$(arg name)_control_params.yaml"/>
-    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/$(arg name)_odometry_params_no_tf.yaml"/>
-    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/$(arg name)_mux.yaml"/>
-    <arg name="standalone"                 value="False"/>
-  </include>
-
-  <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
-    <arg name="name" value="$(arg name)"/>
-    <arg name="local_ekf_yaml_file"  default="$(find iri_adc_launch)/config/$(arg name)_local_ekf.yaml"/>
-    <arg name="global_ekf_yaml_file" default="$(find iri_adc_launch)/config/$(arg name)_global_ekf.yaml"/>
-    <arg name="global_loc" default="false"/>
-  </include>
-
-  <include file="$(find iri_adc_circuit_example)/launch/spawn.launch">
-    <arg name="name" value="$(arg circuit)"/>
-  </include>
-
-  <include file="$(find iri_model_car_rosnav)/launch/nav_mapping.launch">
-    <arg name="name"                    value="$(arg name)"/>
-    <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"/>
-    <arg name="costmap_global_params"   value="global_params.yaml"/>
-    <arg name="local_planner"           value="ackermann_sbpl"/>
-    <arg name="global_planner"          value="sbpl"/>
-    <arg name="odom_topic"              value="/$(arg name)/local_odom_combined"/>
-    <arg name="resolution"              value="$(arg resolution)"/>
-    <arg name="output"                  value="$(arg output)" />
-    <arg name="launch_prefix"           value="$(arg launch_prefix)" />
-  </include>
-
-  <include file="$(find iri_teleop_launch)/launch/rqt_teleop.launch">
-    <arg name="ns"               value="$(arg name)"/>
-    <arg name="twist_topic"      value="/$(arg name)/teleop/cmd_vel"/>
-    <arg name="config_file"      value="$(find iri_teleop_launch)/config/rqt_teleop.yaml" />
-    <arg name="output"           value="$(arg output)"/>
-    <arg name="launch_prefix"    value="$(arg launch_prefix)"/>
-  </include>
-
-  <node name="rviz"
-        pkg="rviz"
-        type="rviz"
-        args="-d $(find iri_adc_launch)/rviz/mapping.rviz">
-  </node>
-
-</launch>
diff --git a/maps/adc_map.yaml b/maps/adc_map.yaml
deleted file mode 100644
index fdc927f13e7ff604ade43343aa0572b80d63d26e..0000000000000000000000000000000000000000
--- a/maps/adc_map.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-image: /home/sergi/iri-lab/adc_ws/src/adc/iri_adc_launch/maps/adc_map.pgm
-resolution: 0.050000
-origin: [-5.000000, -5.000000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
-
diff --git a/rviz/mapping.rviz b/rviz/mapping.rviz
index e1bc3c31ad88ea07b27f8d1606890d7ffb71d7ae..1c44bcf805ae2b996e2f7807380a81df0476bcf9 100644
--- a/rviz/mapping.rviz
+++ b/rviz/mapping.rviz
@@ -8,12 +8,10 @@ Panels:
         - /Models1
         - /Sensors1/Sonar1
         - /Odometry1
-        - /Odometry1/(red)OdomEncoders(1)1/Shape1
-        - /Odometry1/(green)OdomCombinedLocal(1)1/Shape1
         - /Odometry1/(green)OdomCombinedLocal1/Shape1
         - /Nav1
-      Splitter Ratio: 0.637188196182251
-    Tree Height: 641
+      Splitter Ratio: 0.48148149251937866
+    Tree Height: 794
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -344,40 +342,6 @@ Visualization Manager:
       Name: Sensors
     - Class: rviz/Group
       Displays:
-        - Angle Tolerance: 0
-          Class: rviz/Odometry
-          Covariance:
-            Orientation:
-              Alpha: 0.5
-              Color: 255; 255; 127
-              Color Style: Unique
-              Frame: Local
-              Offset: 1
-              Scale: 1
-              Value: true
-            Position:
-              Alpha: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: false
-          Enabled: false
-          Keep: 1
-          Name: (blue)OdomGroundTruth(1)
-          Position Tolerance: 0
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 32; 74; 135
-            Head Length: 0.30000001192092896
-            Head Radius: 0.10000000149011612
-            Shaft Length: 1
-            Shaft Radius: 0.05000000074505806
-            Value: Arrow
-          Topic: /adc_car/odom_ground_truth
-          Unreliable: false
-          Value: false
         - Angle Tolerance: 0.25
           Class: rviz/Odometry
           Covariance:
@@ -395,7 +359,7 @@ Visualization Manager:
               Scale: 1
               Value: true
             Value: false
-          Enabled: false
+          Enabled: true
           Keep: 500
           Name: (blue)OdomGroundTruth
           Position Tolerance: 0.25
@@ -411,41 +375,7 @@ Visualization Manager:
             Value: Arrow
           Topic: /adc_car/odom_ground_truth
           Unreliable: false
-          Value: false
-        - Angle Tolerance: 0
-          Class: rviz/Odometry
-          Covariance:
-            Orientation:
-              Alpha: 0.5
-              Color: 255; 255; 127
-              Color Style: Unique
-              Frame: Local
-              Offset: 1
-              Scale: 1
-              Value: true
-            Position:
-              Alpha: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: false
-          Enabled: false
-          Keep: 1
-          Name: (red)OdomEncoders(1)
-          Position Tolerance: 0
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 255; 25; 0
-            Head Length: 0.30000001192092896
-            Head Radius: 0.10000000149011612
-            Shaft Length: 1
-            Shaft Radius: 0.05000000074505806
-            Value: Arrow
-          Topic: /adc_car/odom
-          Unreliable: false
-          Value: false
+          Value: true
         - Angle Tolerance: 0.25
           Class: rviz/Odometry
           Covariance:
@@ -463,7 +393,7 @@ Visualization Manager:
               Scale: 1
               Value: true
             Value: false
-          Enabled: false
+          Enabled: true
           Keep: 500
           Name: (red)OdomEncoders
           Position Tolerance: 0.25
@@ -479,40 +409,6 @@ Visualization Manager:
             Value: Arrow
           Topic: /adc_car/odom
           Unreliable: false
-          Value: false
-        - Angle Tolerance: 0
-          Class: rviz/Odometry
-          Covariance:
-            Orientation:
-              Alpha: 0.5
-              Color: 255; 255; 127
-              Color Style: Unique
-              Frame: Local
-              Offset: 1
-              Scale: 1
-              Value: true
-            Position:
-              Alpha: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: false
-          Enabled: true
-          Keep: 1
-          Name: (green)OdomCombinedLocal(1)
-          Position Tolerance: 0
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 0; 255; 0
-            Head Length: 0.30000001192092896
-            Head Radius: 0.10000000149011612
-            Shaft Length: 1
-            Shaft Radius: 0.05000000074505806
-            Value: Arrow
-          Topic: /adc_car/local_odom_combined
-          Unreliable: false
           Value: true
         - Angle Tolerance: 0.25
           Class: rviz/Odometry
@@ -548,40 +444,6 @@ Visualization Manager:
           Topic: /adc_car/local_odom_combined
           Unreliable: false
           Value: true
-        - Angle Tolerance: 0
-          Class: rviz/Odometry
-          Covariance:
-            Orientation:
-              Alpha: 0.5
-              Color: 255; 255; 127
-              Color Style: Unique
-              Frame: Local
-              Offset: 1
-              Scale: 1
-              Value: true
-            Position:
-              Alpha: 0.30000001192092896
-              Color: 204; 51; 204
-              Scale: 1
-              Value: true
-            Value: false
-          Enabled: false
-          Keep: 1
-          Name: (yellow)OdomCombinedGlobal(1)
-          Position Tolerance: 0
-          Shape:
-            Alpha: 1
-            Axes Length: 1
-            Axes Radius: 0.10000000149011612
-            Color: 255; 255; 0
-            Head Length: 0.30000001192092896
-            Head Radius: 0.10000000149011612
-            Shaft Length: 1
-            Shaft Radius: 0.05000000074505806
-            Value: Arrow
-          Topic: /adc_car/global_odom_combined
-          Unreliable: false
-          Value: false
         - Angle Tolerance: 0.25
           Class: rviz/Odometry
           Covariance:
@@ -812,10 +674,10 @@ Window Geometry:
     collapsed: false
   FrontImage:
     collapsed: false
-  Height: 872
+  Height: 1025
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   RearImage:
     collapsed: false
   Selection:
@@ -826,6 +688,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1373
+  Width: 1853
   X: 67
-  Y: 0
+  Y: 27