diff --git a/gazebo_sim/config/costmap_common_params.yaml b/gazebo_sim/config/costmap_common_params.yaml
index de05e19..d569971 100644
--- a/gazebo_sim/config/costmap_common_params.yaml
+++ b/gazebo_sim/config/costmap_common_params.yaml
@@ -6,4 +6,4 @@ 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}
+laser_scan_kinect: {sensor_frame: qt_pi/laser, data_type: LaserScan, topic: /qt_pi/scan, marking: true, clearing: true}
diff --git a/gazebo_sim/config/global_costmap_params.yaml b/gazebo_sim/config/global_costmap_params.yaml
index 5ed0b4d..090b274 100644
--- a/gazebo_sim/config/global_costmap_params.yaml
+++ b/gazebo_sim/config/global_costmap_params.yaml
@@ -4,3 +4,5 @@ global_costmap:
update_frequency: 5.0
static_map: false
rolling_window: true
+ width: 100
+ height: 100
diff --git a/gazebo_sim/launch/gazebo_sim.launch b/gazebo_sim/launch/gazebo_sim.launch
index 2c1b212..cb606b8 100644
--- a/gazebo_sim/launch/gazebo_sim.launch
+++ b/gazebo_sim/launch/gazebo_sim.launch
@@ -1,10 +1,9 @@
-
+
+
-
-
-
+
\ No newline at end of file
diff --git a/gazebo_sim/launch/gmapping.launch b/gazebo_sim/launch/gmapping.launch
index a7a7317..03482e0 100644
--- a/gazebo_sim/launch/gmapping.launch
+++ b/gazebo_sim/launch/gmapping.launch
@@ -1,8 +1,10 @@
+
-
-
+
+
+
\ No newline at end of file
diff --git a/gazebo_sim/launch/move_base_amcl.launch b/gazebo_sim/launch/move_base_amcl.launch
index 0a118c8..573d3ee 100644
--- a/gazebo_sim/launch/move_base_amcl.launch
+++ b/gazebo_sim/launch/move_base_amcl.launch
@@ -1,9 +1,17 @@
+
+
+
+
-
+
-
+
+
+
+
+
diff --git a/gazebo_sim/launch/move_base.launch b/gazebo_sim/launch/move_base_gmapping.launch
similarity index 90%
rename from gazebo_sim/launch/move_base.launch
rename to gazebo_sim/launch/move_base_gmapping.launch
index 27849ff..f138dcf 100644
--- a/gazebo_sim/launch/move_base.launch
+++ b/gazebo_sim/launch/move_base_gmapping.launch
@@ -1,7 +1,9 @@
-
-
+
+
+
+
diff --git a/gazebo_sim/launch/static_tf.launch b/gazebo_sim/launch/static_tf.launch
index e350868..1735590 100644
--- a/gazebo_sim/launch/static_tf.launch
+++ b/gazebo_sim/launch/static_tf.launch
@@ -1,3 +1,3 @@
-
+
\ No newline at end of file
diff --git a/gazebo_sim/map/frames.gv b/gazebo_sim/map/frames.gv
new file mode 100644
index 0000000..8108a1a
--- /dev/null
+++ b/gazebo_sim/map/frames.gv
@@ -0,0 +1,8 @@
+digraph G {
+"qt_pi/odom" -> "qt_pi/base_link"[label="Broadcaster: /gazebo\nAverage rate: 30.199 Hz\nMost recent transform: 604.007 ( 0.018 sec old)\nBuffer length: 4.967 sec\n"];
+"qt_pi/base_link" -> "qt_pi/laser"[label="Broadcaster: /laser_frame\nAverage rate: 30.419 Hz\nMost recent transform: 604.039 ( -0.014 sec old)\nBuffer length: 4.964 sec\n"];
+edge [style=invis];
+ subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
+"Recorded at time: 604.025"[ shape=plaintext ] ;
+ }->"qt_pi/odom";
+}
\ No newline at end of file
diff --git a/gazebo_sim/map/frames.pdf b/gazebo_sim/map/frames.pdf
new file mode 100644
index 0000000..dc087d8
Binary files /dev/null and b/gazebo_sim/map/frames.pdf differ
diff --git a/gazebo_sim/map/playground.pgm b/gazebo_sim/map/playground.pgm
new file mode 100644
index 0000000..f4af84d
Binary files /dev/null and b/gazebo_sim/map/playground.pgm differ
diff --git a/gazebo_sim/map/playground.yaml b/gazebo_sim/map/playground.yaml
new file mode 100644
index 0000000..bd22da1
--- /dev/null
+++ b/gazebo_sim/map/playground.yaml
@@ -0,0 +1,6 @@
+image: playground.pgm
+resolution: 0.050000
+origin: [-4.000000, -13.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
diff --git a/gazebo_sim/worlds/qt_pi_laser.world b/gazebo_sim/worlds/qt_pi_laser.world
new file mode 100644
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--- /dev/null
+++ b/gazebo_sim/worlds/qt_pi_laser.world
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\ No newline at end of file