diff --git a/config/adc/control_config.yaml b/config/adc_common/adc_control_config.yaml
similarity index 100%
rename from config/adc/control_config.yaml
rename to config/adc_common/adc_control_config.yaml
diff --git a/config/adc_common/local_ekf_odom_imu.yaml b/config/adc_common/adc_local_ekf_odom_imu.yaml
similarity index 100%
rename from config/adc_common/local_ekf_odom_imu.yaml
rename to config/adc_common/adc_local_ekf_odom_imu.yaml
diff --git a/config/adc/odometry_config.yaml b/config/adc_common/adc_odometry_config.yaml
similarity index 100%
rename from config/adc/odometry_config.yaml
rename to config/adc_common/adc_odometry_config.yaml
diff --git a/config/adc_car_controller_config.yaml b/config/adc_sim/adc_controller_config.yaml
similarity index 91%
rename from config/adc_car_controller_config.yaml
rename to config/adc_sim/adc_controller_config.yaml
index d1b958a2153c23831ad61a75fd2ea397c3b94010..8ed18e459946e46d49931043d5b7b70e09edd24c 100644
--- a/config/adc_car_controller_config.yaml
+++ b/config/adc_sim/adc_controller_config.yaml
@@ -1,4 +1,4 @@
-#adc_car:
+#model_car:
   # Publish all joint states -----------------------------------
   joint_state_controller:
     type: joint_state_controller/JointStateController
@@ -15,12 +15,16 @@
     axel_distance: 0.3662
     wheel_distance: 0.216
     wheel_diameter: 0.100
-    encoder_ticks: 60
+    encoder_ticks: 30
     encoder_rate: 40
     min_steer_angle: -0.4
     max_steer_angle: 0.4
+    min_steer_control: -100.0
+    max_steer_control: 100.0
     min_speed: -1.5
     max_speed: 1.5
+    min_speed_control: -77.0
+    max_speed_control: 62.0
     control_topic: /adc_car/control
     encoders_topic: /adc_car/encoders
     
diff --git a/config/adc_sim/mpu9250_imu_config.yaml b/config/adc_sim/mpu9250_imu_config.yaml
index 52d7790c80414287e88a4fa239aa753af92d8d09..5ff9a0895b0664fe3285d69dd8819a0c701dc72a 100644
--- a/config/adc_sim/mpu9250_imu_config.yaml
+++ b/config/adc_sim/mpu9250_imu_config.yaml
@@ -1,6 +1,6 @@
 rate: 100.0
-namespace: 'model_car'
-tf_prefix: 'model_car'
+namespace: 'adc_car'
+tf_prefix: 'adc_car'
 imu_topic: 'sensors/imu'
 accel_offset_x: 0.06
 accel_offset_y: 0.06
diff --git a/config/adc_sim/rear_center_sonar_config.yaml b/config/adc_sim/rear_center_sonar_config.yaml
index c57811cdbe21c8fe20bf7e6036be133650516d76..c63338f2b23608d624fbf3a5ca12ed6a0c96dfc6 100644
--- a/config/adc_sim/rear_center_sonar_config.yaml
+++ b/config/adc_sim/rear_center_sonar_config.yaml
@@ -4,7 +4,7 @@ fov: 0.5
 min_range: 0.2
 max_range: 4.0
 resolution: 0.003
-frame_id: 'model_car/rear_center_ranger1d'
+frame_id: 'adc_car/rear_center_ranger1d'
 ranger1d_topic: 'sensors/range/rear_center_sonar'
 type: 'ultrasound'
 noise: 0.01
diff --git a/config/adc_sim/rear_left_sonar_config.yaml b/config/adc_sim/rear_left_sonar_config.yaml
index eb9e61e8b61490692c23dab648165551807cbc3f..4a172771cdeea7fa09e549dcad8b859e666a282b 100644
--- a/config/adc_sim/rear_left_sonar_config.yaml
+++ b/config/adc_sim/rear_left_sonar_config.yaml
@@ -4,7 +4,7 @@ fov: 0.5
 min_range: 0.2
 max_range: 4.0
 resolution: 0.003
-frame_id: 'model_car/rear_left_ranger1d'
+frame_id: 'adc_car/rear_left_ranger1d'
 ranger1d_topic: 'sensors/range/rear_left_sonar'
 type: 'ultrasound'
 noise: 0.01
diff --git a/config/adc_sim/rear_right_sonar_config.yaml b/config/adc_sim/rear_right_sonar_config.yaml
index ed02ce33ac57de5f745968dec3b0ef3b727a6eaf..96a20393b6e6e26e9f39cb7e087f411f2c08ab8b 100644
--- a/config/adc_sim/rear_right_sonar_config.yaml
+++ b/config/adc_sim/rear_right_sonar_config.yaml
@@ -4,7 +4,7 @@ fov: 0.5
 min_range: 0.2
 max_range: 4.0
 resolution: 0.003
-frame_id: 'model_car/rear_right_ranger1d'
+frame_id: 'adc_car/rear_right_ranger1d'
 ranger1d_topic: 'sensors/range/rear_right_sonar'
 type: 'ultrasound'
 noise: 0.01
diff --git a/config/adc_sim/side_left_sonar_config.yaml b/config/adc_sim/side_left_sonar_config.yaml
index 0cb6214b2bc804bfd299879791b40b927f013ef5..fbcf3c6f2a2941c8f8da7976f21e9823e324e27b 100644
--- a/config/adc_sim/side_left_sonar_config.yaml
+++ b/config/adc_sim/side_left_sonar_config.yaml
@@ -4,7 +4,7 @@ fov: 0.5
 min_range: 0.2
 max_range: 4.0
 resolution: 0.003
-frame_id: 'model_car/side_left_ranger1d'
+frame_id: 'adc_car/side_left_ranger1d'
 ranger1d_topic: 'sensors/range/side_left_sonar'
 type: 'ultrasound'
 noise: 0.01
diff --git a/config/adc_sim/side_right_sonar_config.yaml b/config/adc_sim/side_right_sonar_config.yaml
index 050078cc92c5ff011b82ec75b717b1fc2e8e1488..c1bb4a1c23e01af1d632900ca49b0deaece93bcd 100644
--- a/config/adc_sim/side_right_sonar_config.yaml
+++ b/config/adc_sim/side_right_sonar_config.yaml
@@ -4,7 +4,7 @@ fov: 0.5
 min_range: 0.2
 max_range: 4.0
 resolution: 0.003
-frame_id: 'model_car/side_right_ranger1d'
+frame_id: 'adc_car/side_right_ranger1d'
 ranger1d_topic: 'sensors/range/side_right_sonar'
 type: 'ultrasound'
 noise: 0.01
diff --git a/launch/adc_bringup.launch b/launch/adc_bringup.launch
index bcc4cb1d0612b32174b9b8f26246e5e2c14e2b69..40b31390bde7630374650b4debbd4305513730df 100644
--- a/launch/adc_bringup.launch
+++ b/launch/adc_bringup.launch
@@ -14,10 +14,10 @@
     <arg name="delock_format_file"         value="$(find iri_adc_launch)/config/adc/delock_camera_config.yaml" />
     <arg name="delock_calib_file"          value="$(find iri_adc_launch)/calibration/delock_1280x960.yaml" />
     <arg name="rplidar_config_file"        value="$(find iri_adc_launch)/config/adc/rplidar_config.yaml" />
-   <arg name="control_config_file"         value="$(find iri_adc_launch)/config/adc/control_config.yaml"/>
-   <arg name="odometry_config_file"        value="$(find iri_adc_launch)/config/adc/odometry_config.yaml"/>
+   <arg name="control_config_file"         value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
+   <arg name="odometry_config_file"        value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
    <arg name="cmd_vel_mux_config_file"     value="$(find iri_adc_launch)/config/adc_common/mux.yaml"/>
-   <arg name="local_ekf_config_file"       value="$(find iri_adc_launch)/config/adc_common/local_ekf_odom_imu.yaml"/>
+   <arg name="local_ekf_config_file"       value="$(find iri_adc_launch)/config/adc_common/adc_local_ekf_odom_imu.yaml"/>
    <arg name="sim_config_path"             value="$(find iri_adc_launch)/config/adc_sim"/>
   </include>
 </launch>
diff --git a/launch/adc_sim.launch b/launch/adc_sim.launch
index 945c8b09d3c52bbb88b1a625980924740ef79b4d..7092be1d0358d84bb747ff343c707a04d8a9db6d 100644
--- a/launch/adc_sim.launch
+++ b/launch/adc_sim.launch
@@ -20,11 +20,11 @@
     <arg name="car_x"                      value="$(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_no_tf.yaml"/>
-    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
+    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_sim"/>
+    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
+    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
+    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
+    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/adc_common/mux.yaml"/>
   </include>
 
 </launch>
diff --git a/launch/adc_sim_env.launch b/launch/adc_sim_env.launch
index af2c5e2102926acfb4b684cd5f8f014f7648de09..d71484393b8521a2bd4ef5cb4e0b6027091dbd1b 100644
--- a/launch/adc_sim_env.launch
+++ b/launch/adc_sim_env.launch
@@ -26,12 +26,12 @@
     <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="$(find iri_adc_launch)/config/adc_car_odometry_params_no_tf.yaml"/>
-    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
-    <arg name="local_ekf_config_file"      value="$(find iri_adc_launch)/config//adc_car_local_ekf.yaml"/>
+    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_sim"/>
+    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_sim/adc_controller_config.yaml"/>
+    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_common/adc_control_config.yaml"/>
+    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_common/adc_odometry_config.yaml"/>
+    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/adc_common/mux.yaml"/>
+    <arg name="local_ekf_config_file"      value="$(find iri_adc_launch)/config/adc_common/adc_local_ekf_odom_imu.yaml"/>
   </include>
 
   <include file="$(find iri_adc_launch)/launch/sample_signals.launch">