diff --git a/README.md b/README.md
index b0b6fd3..c6ebb7a 100644
--- a/README.md
+++ b/README.md
@@ -680,34 +680,48 @@ Then save the generated map.
 
 ## Navigation
 
+TODO: Brief overview
+
 ### Gazebo
 
-Nav2's amcl package is used for localization with the map generated from slam_toolbox
+Nav2's `amcl` package is used for localization with the map generated from ``slam_toolbox`. 
+
+Bring up lidarbot in Gazebo classic:
 
 ```
 ros2 launch lidarbot_gazebo gazebo_launch.py
 ```
 
-Note map location and name
+Navigate to the development workspace and open the following terminals.
+
+To open `rviz`:
 
 ```
 rviz2 -d src/lidarbot_navigation/rviz/lidarbot_nav.rviz
 ```
 
+To localize lidarbot with `amcl` in the map generated by `slam_toolbox`:
 ```
-ros2 launch lidarbot_navigation localization_launch.py map:=./sim_map.yaml use_sim_time:=true
+ros2 launch lidarbot_navigation localization_launch.py \
+map:=./src/lidarbot_navigation/maps/sim_map.yaml use_sim_time:=true
 ```
 
+To launch navigation:
 ```
 ros2 launch lidarbot_navigation navigation_launch.py use_sim_time:=true \
 map_subscribe_transient_local:=true
 ```
 
-Set initial pose using the `2D Pose Estimate` button in the toolbar
+In rviz, set the initial pose using the `2D Pose Estimate` button in the toolbar so that lidarbot is aligned correctly both in rviz and Gazebo classic. Afterwards, click on the `2D Goal Pose` and choose a place on the map for lidarbot to navigate to:
+
+<p align='center'>
+    <img src=docs/images/gazebo_navigation.gif width="800">
+</p>
 
-Note about the pixels
 
-Blue arrow shows unfiltered odometry, while green shows the filtered odometry. The number of arrows shown is the number of odometry data to keep before removing the oldest. 0 means keep all of them.
+Note about the pixels not part of the map
+
+The blue arrow shows unfiltered odometry, while green shows the filtered odometry. 
 
 ### Lidarbot
 
@@ -730,6 +744,8 @@ ros2 launch lidarbot_navigation navigation_launch.py use_sim_time:=false \
 map_subscribe_transient_local:=true
 ```
 
+Using navigation goal button from nav2 plugin
+
 Use waypoint mode here
 
 TODO:
diff --git a/docs/images/gazebo_navigation.gif b/docs/images/gazebo_navigation.gif
new file mode 100644
index 0000000..7512270
Binary files /dev/null and b/docs/images/gazebo_navigation.gif differ
diff --git a/lidarbot_bringup/launch/rplidar_launch.py b/lidarbot_bringup/launch/rplidar_launch.py
index bfa7467..60e6f1d 100644
--- a/lidarbot_bringup/launch/rplidar_launch.py
+++ b/lidarbot_bringup/launch/rplidar_launch.py
@@ -1,11 +1,8 @@
 #!/usr/bin/env python3
 
-import os
-
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.actions import LogInfo
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
@@ -17,7 +14,7 @@ def generate_launch_description():
     frame_id = LaunchConfiguration('frame_id', default='lidar_link')
     inverted = LaunchConfiguration('inverted', default='false')
     angle_compensate = LaunchConfiguration('angle_compensate', default='true')
-    scan_mode = LaunchConfiguration('scan_mode', default='Sensitivity')
+    scan_mode = LaunchConfiguration('scan_mode', default='Standard')
     
     return LaunchDescription([
 
@@ -50,6 +47,7 @@ def generate_launch_description():
             'angle_compensate',
             default_value=angle_compensate,
             description='Specifying whether or not to enable angle_compensate of scan data'),
+            
         DeclareLaunchArgument(
             'scan_mode',
             default_value=scan_mode,
@@ -65,6 +63,7 @@ def generate_launch_description():
                          'serial_baudrate': serial_baudrate,
                          'frame_id': frame_id,
                          'inverted': inverted,
-                         'angle_compensate': angle_compensate}],
+                         'angle_compensate': angle_compensate,
+                         'scan_mode': scan_mode}],
             output='screen'),
-    ])
\ No newline at end of file
+    ])
diff --git a/lidarbot_navigation/config/ekf.yaml b/lidarbot_navigation/config/ekf.yaml
index 85f2c1b..f3ae34a 100644
--- a/lidarbot_navigation/config/ekf.yaml
+++ b/lidarbot_navigation/config/ekf.yaml
@@ -6,7 +6,6 @@ ekf_filter_node:
         
         frequency: 50.0
         two_d_mode: true
-        print_diagnostics: true
 
         map_frame: map
         odom_frame: odom
@@ -32,4 +31,4 @@ ekf_filter_node:
                       false, false, false, 
                       false, false, false,
                       false, false, true, 
-                      true, false, false]
\ No newline at end of file
+                      true, false, false]
diff --git a/lidarbot_navigation/maps/library_save.pgm b/lidarbot_navigation/maps/library_save.pgm
deleted file mode 100644
index 18a49a9..0000000
Binary files a/lidarbot_navigation/maps/library_save.pgm and /dev/null differ
diff --git a/lidarbot_navigation/maps/library_save.yaml b/lidarbot_navigation/maps/library_save.yaml
deleted file mode 100644
index 1ee7b8b..0000000
--- a/lidarbot_navigation/maps/library_save.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-image: library_save.pgm
-mode: trinary
-resolution: 0.05
-origin: [-1.71, -3.13, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25
\ No newline at end of file
diff --git a/lidarbot_navigation/maps/library_serial.data b/lidarbot_navigation/maps/library_serial.data
deleted file mode 100644
index 004a036..0000000
Binary files a/lidarbot_navigation/maps/library_serial.data and /dev/null differ
diff --git a/lidarbot_navigation/maps/library_serial.posegraph b/lidarbot_navigation/maps/library_serial.posegraph
deleted file mode 100644
index f8bd4d4..0000000
Binary files a/lidarbot_navigation/maps/library_serial.posegraph and /dev/null differ
diff --git a/lidarbot_navigation/maps/real_map.data b/lidarbot_navigation/maps/real_map.data
deleted file mode 100644
index d94a482..0000000
Binary files a/lidarbot_navigation/maps/real_map.data and /dev/null differ
diff --git a/lidarbot_navigation/maps/real_map.pgm b/lidarbot_navigation/maps/real_map.pgm
deleted file mode 100644
index ce5db6c..0000000
Binary files a/lidarbot_navigation/maps/real_map.pgm and /dev/null differ
diff --git a/lidarbot_navigation/maps/real_map.posegraph b/lidarbot_navigation/maps/real_map.posegraph
deleted file mode 100644
index 8f01dfb..0000000
Binary files a/lidarbot_navigation/maps/real_map.posegraph and /dev/null differ
diff --git a/lidarbot_navigation/maps/real_map.yaml b/lidarbot_navigation/maps/real_map.yaml
deleted file mode 100644
index 63dbad4..0000000
--- a/lidarbot_navigation/maps/real_map.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-image: real_map.pgm
-mode: trinary
-resolution: 0.05
-origin: [-3.46, -6.02, 0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.25
\ No newline at end of file
diff --git a/lidarbot_navigation/maps/sim_map.yaml b/lidarbot_navigation/maps/sim_map.yaml
index b3b5260..9dd90c9 100644
--- a/lidarbot_navigation/maps/sim_map.yaml
+++ b/lidarbot_navigation/maps/sim_map.yaml
@@ -1,4 +1,4 @@
-image: sim2_map.pgm
+image: sim_map.pgm
 mode: trinary
 resolution: 0.05
 origin: [-5.21, -5.44, 0]