diff --git a/launch/localization.launch b/launch/include/localization.launch
similarity index 96%
rename from launch/localization.launch
rename to launch/include/localization.launch
index 9f52e541147ecd216b36fb37c8fc29c15aba87d3..35c40987b10ebfd4dd32054631636066e074ee11 100644
--- a/launch/localization.launch
+++ b/launch/include/localization.launch
@@ -18,8 +18,8 @@
<param name="cov_vel" value="0.01"/>
<param name="cov_acc" value="0.01"/>
<param name="imu_reference" value="1"/><!-- 0 -> NED 1-> ENU -->
- <remap from="~imu_in" to="$(arg name)/imu"/>
- <remap from="~imu_out" to="$(arg name)/imu_enu"/>
+ <remap from="~imu_in" to="$(arg name)/sensors/imu"/>
+ <remap from="~imu_out" to="$(arg name)/sensors/imu_enu"/>
</node>
@@ -33,10 +33,12 @@
<remap from="odometry/filtered" to="/$(arg name)/local_odom_combined"/>
</node>
+ <!--
<node pkg="tf"
type="static_transform_publisher"
name="map_transform" args="0 0 0 0 0 0 map model_car/odom 20"
unless="$(arg global_loc)"/>
+-->
<node pkg="robot_localization"
type="ekf_localization_node"
diff --git a/launch/include/spawn_objects.launch b/launch/include/spawn_objects.launch
new file mode 100644
index 0000000000000000000000000000000000000000..aadb5f00ed3399fccac9e2ed39250548c57d25c0
--- /dev/null
+++ b/launch/include/spawn_objects.launch
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+
+<launch>
+ <arg name="parent" default="map"/>
+
+
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="object00"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="2.5"/>
+ <arg name="width" value="6.0"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="1.25"/>
+ <arg name="y" value="4.0"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="object10"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="2.5"/>
+ <arg name="width" value="2.0"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="5.75"/>
+ <arg name="y" value="6.0"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find iri_object_description)/launch/spawn_object.launch">
+ <arg name="name" value="object20"/>
+ <arg name="model" value="box"/>
+ <arg name="length" value="2.5"/>
+ <arg name="width" value="3.0"/>
+ <arg name="height" value="0.5"/>
+ <arg name="x" value="5.75"/>
+ <arg name="y" value="2.5"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+</launch>
+
diff --git a/launch/include/spawn_signs.launch b/launch/include/spawn_signs.launch
new file mode 100644
index 0000000000000000000000000000000000000000..222e1ad8a1c0190b00cb4fd6a54941f1cbd81c45
--- /dev/null
+++ b/launch/include/spawn_signs.launch
@@ -0,0 +1,140 @@
+<?xml version="1.0"?>
+
+<launch>
+ <arg name="parent" default="map"/>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="pedestrian_crossing_0"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar6"/>
+ <arg name="type" value="pedestrian_crossing"/>
+ <arg name="x" value="2.0"/>
+ <arg name="y" value="-0.5"/>
+ <arg name="yaw" value="3.14159"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="pedestrian_crossing_1"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar6"/>
+ <arg name="type" value="pedestrian_crossing"/>
+ <arg name="x" value="1.5"/>
+ <arg name="y" value="0.5"/>
+ <arg name="yaw" value="0"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_0"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar13"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="8.5"/>
+ <arg name="y" value="2.5"/>
+ <arg name="yaw" value="4.71239"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_1"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar13"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="7.5"/>
+ <arg name="y" value="6.5"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="parking0"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar2"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="7.5"/>
+ <arg name="y" value="5.0"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_2"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar13"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="-1.5"/>
+ <arg name="y" value="3.5"/>
+ <arg name="yaw" value="7.85398"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_3"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar13"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="-0.5"/>
+ <arg name="y" value="1.5"/>
+ <arg name="yaw" value="4.71239"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="parking1"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar2"/>
+ <arg name="type" value="parking"/>
+ <arg name="x" value="4.0"/>
+ <arg name="y" value="4.2"/>
+ <arg name="yaw" value="4.71239"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="giveway0"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar5"/>
+ <arg name="type" value="giveway"/>
+ <arg name="x" value="4.0"/>
+ <arg name="y" value="6.99"/>
+ <arg name="yaw" value="4.71239"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="giveway1"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar5"/>
+ <arg name="type" value="giveway"/>
+ <arg name="x" value="3.0"/>
+ <arg name="y" value="1.0"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+ <include file="$(find sign_description)/launch/spawn_sign.launch">
+ <arg name="name" value="max_50_5"/>
+ <arg name="model" value="sign"/>
+ <arg name="tag" value="alvar13"/>
+ <arg name="type" value="max_50"/>
+ <arg name="x" value="3.0"/>
+ <arg name="y" value="3.5"/>
+ <arg name="yaw" value="1.5708"/>
+ <arg name="parent" value="$(arg parent)"/>
+ </include>
+
+
+</launch>
+