diff --git a/gazebo_sim/config/base_local_planner_params.yaml b/gazebo_sim/config/base_local_planner_params.yaml
new file mode 100644
index 0000000..3eadf53
--- /dev/null
+++ b/gazebo_sim/config/base_local_planner_params.yaml
@@ -0,0 +1,11 @@
+TrajectoryPlannerROS:
+ max_vel_x: 0.45
+ min_vel_x: 0.1
+ max_vel_theta: 1.0
+ min_in_place_vel_theta: 0.4
+
+ acc_lim_theta: 3.2
+ acc_lim_x: 2.5
+ acc_lim_y: 2.5
+
+ holonomic_robot: true
diff --git a/gazebo_sim/config/costmap_common_params.yaml b/gazebo_sim/config/costmap_common_params.yaml
new file mode 100644
index 0000000..de05e19
--- /dev/null
+++ b/gazebo_sim/config/costmap_common_params.yaml
@@ -0,0 +1,9 @@
+obstacle_range: 100
+raytrace_range: 100
+footprint: [[0.2, 0.3], [0.2, -0.3], [-0.2, -0.3], [-0.2, 0.3]]
+#robot_radius: ir_of_robot
+inflation_radius: 0.5
+
+observation_sources: laser_scan_kinect
+
+laser_scan_kinect: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
diff --git a/gazebo_sim/config/global_costmap_params.yaml b/gazebo_sim/config/global_costmap_params.yaml
new file mode 100644
index 0000000..5ed0b4d
--- /dev/null
+++ b/gazebo_sim/config/global_costmap_params.yaml
@@ -0,0 +1,6 @@
+global_costmap:
+ global_frame: map
+ robot_base_frame: qt_pi/base_link
+ update_frequency: 5.0
+ static_map: false
+ rolling_window: true
diff --git a/gazebo_sim/config/local_costmap_params.yaml b/gazebo_sim/config/local_costmap_params.yaml
new file mode 100644
index 0000000..a6f3c45
--- /dev/null
+++ b/gazebo_sim/config/local_costmap_params.yaml
@@ -0,0 +1,10 @@
+local_costmap:
+ global_frame: qt_pi/odom
+ robot_base_frame: qt_pi/base_link
+ update_frequency: 5.0
+ publish_frequency: 2.0
+ static_map: false
+ rolling_window: true
+ width: 15.0
+ height: 15.0
+ resolution: 0.05
diff --git a/gazebo_sim/launch/move_base.launch b/gazebo_sim/launch/move_base.launch
new file mode 100644
index 0000000..27849ff
--- /dev/null
+++ b/gazebo_sim/launch/move_base.launch
@@ -0,0 +1,20 @@
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/gazebo_sim/launch/move_base_amcl.launch b/gazebo_sim/launch/move_base_amcl.launch
new file mode 100644
index 0000000..0a118c8
--- /dev/null
+++ b/gazebo_sim/launch/move_base_amcl.launch
@@ -0,0 +1,15 @@
+
+
+
+
+
+
+
+
+
+
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+
\ No newline at end of file