diff --git a/config/qt_pi_arduino_params.yaml b/config/qt_pi_arduino_params.yaml
index 152ff38..d52104b 100644
--- a/config/qt_pi_arduino_params.yaml
+++ b/config/qt_pi_arduino_params.yaml
@@ -1,5 +1,5 @@
 
-port: /dev/rfcomm1
+port: /dev/ttyUSB0
 baud: 57600
 timeout: 0.1
 
diff --git a/launch/depth_to_laser.launch b/launch/depth_to_laser.launch
new file mode 100644
index 0000000..8db6ebc
--- /dev/null
+++ b/launch/depth_to_laser.launch
@@ -0,0 +1,7 @@
+<launch>
+<remap from="image" to="kinect2/sd/image_depth_rect"/>
+   <node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">
+	  <param name="scan_height" value="100" />
+	  <param name="range_max" value="12" />
+   </node>
+</launch>
diff --git a/launch/gmapping.launch b/launch/gmapping.launch
new file mode 100644
index 0000000..329d7a2
--- /dev/null
+++ b/launch/gmapping.launch
@@ -0,0 +1,8 @@
+<launch>
+	<node name="gmapping" pkg="gmapping" type="slam_gmapping">
+	<param name="base_frame" value="base_link" type="string" />
+	<param name="maxUrange" value="8" />
+	<param name="maxRange" value="12" />
+	<param name="minimumScore" value="50" />
+	</node>
+</launch>
diff --git a/launch/qt_pi.launch b/launch/qt_pi.launch
index 919cee3..c176b7a 100644
--- a/launch/qt_pi.launch
+++ b/launch/qt_pi.launch
@@ -1,17 +1,10 @@
 <launch>
-   <node name="arduino" pkg="qt_pi" type="arduino_node.py" output="screen">
-      <rosparam file="$(find qt_pi)/config/qt_pi_arduino_params.yaml" command="load" />
-   </node>
+	
+	<include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch"/>
+	<include file="$(find qt_pi)/launch/arduino.launch"/>	
+	<include file="$(find qt_pi)/launch/depth_to_laser.launch"/>
+	<include file="$(find qt_pi)/launch/gmapping.launch"/>
 
-   <node name="kinect2_bridge_1455208236617866858" pkg="kinect2_bridge" type="kinect2_bridge">
-   </node>
 
-   <node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">
-      <param name="image" value="kinect2/sd/image_depth_rect" />
-   </node>
-
-   <node name="gmapping" pkg="gmapping" type="slam_gmapping">
-      <param name="base_frame" value="base_link" type="string" />
-   </node>
 
 </launch>