diff --git a/config/carto_config/rosbot.lua b/config/carto_config/rosbot.lua
deleted file mode 100644
index 7bc3f31..0000000
--- a/config/carto_config/rosbot.lua
+++ /dev/null
@@ -1,42 +0,0 @@
-include "map_builder.lua"
-include "trajectory_builder.lua"
-
-options = {
-  map_builder = MAP_BUILDER,
-  trajectory_builder = TRAJECTORY_BUILDER,
-  map_frame = "map",
-  tracking_frame = "base_link",
-  published_frame = "base_link",
-  odom_frame = "odom",
-  provide_odom_frame = true,
-  publish_frame_projected_to_2d = true,
-  use_odometry = true,
-  use_nav_sat = false,
-  use_landmarks = false,
-  num_laser_scans = 1,
-  num_multi_echo_laser_scans = 0,
-  num_subdivisions_per_laser_scan = 1,
-  num_point_clouds = 0,
-  lookup_transform_timeout_sec = 0.2,
-  submap_publish_period_sec = 0.3,
-  pose_publish_period_sec = 5e-3,
-  trajectory_publish_period_sec = 30e-3,
-  rangefinder_sampling_ratio = 1.,
-  odometry_sampling_ratio = 1.,
-  fixed_frame_pose_sampling_ratio = 1.,
-  imu_sampling_ratio = 1.,
-  landmarks_sampling_ratio = 1.,
-}
-
-MAP_BUILDER.use_trajectory_builder_2d = true
-TRAJECTORY_BUILDER_2D.min_range = 0.4
-TRAJECTORY_BUILDER_2D.max_range = 6.0
-TRAJECTORY_BUILDER_2D.use_imu_data = false  
-TRAJECTORY_BUILDER_2D.use_online_correlative_scale_matching = on
-TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
-TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 0.1 
-TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 5e-1
-
-POSE_GRAPH.optimization_problem.huber_scale = 1e2
-
-return options
diff --git a/config/carto_config/rosbot_localization.lua b/config/carto_config/rosbot_localization.lua
deleted file mode 100644
index e6ae826..0000000
--- a/config/carto_config/rosbot_localization.lua
+++ /dev/null
@@ -1,45 +0,0 @@
-include "map_builder.lua"
-include "trajectory_builder.lua"
-
-options = {
-  map_builder = MAP_BUILDER,
-  trajectory_builder = TRAJECTORY_BUILDER,
-  map_frame = "map",
-  tracking_frame = "base_link",
-  published_frame = "base_link",
-  odom_frame = "odom",
-  provide_odom_frame = true,
-  publish_frame_projected_to_2d = true,
-  use_odometry = true,
-  use_nav_sat = false,
-  use_landmarks = false,
-  num_laser_scans = 1,
-  num_multi_echo_laser_scans = 0,
-  num_subdivisions_per_laser_scan = 1,
-  num_point_clouds = 0,
-  lookup_transform_timeout_sec = 0.2,
-  submap_publish_period_sec = 0.3,
-  pose_publish_period_sec = 5e-3,
-  trajectory_publish_period_sec = 30e-3,
-  rangefinder_sampling_ratio = 1.,
-  odometry_sampling_ratio = 1.,
-  fixed_frame_pose_sampling_ratio = 1.,
-  imu_sampling_ratio = 1.,
-  landmarks_sampling_ratio = 1.,
-}
-
-MAP_BUILDER.use_trajectory_builder_2d = true
-TRAJECTORY_BUILDER_2D.min_range = 0.4
-TRAJECTORY_BUILDER_2D.max_range = 6.0
-TRAJECTORY_BUILDER_2D.use_imu_data = false  
-TRAJECTORY_BUILDER_2D.use_online_correlative_scale_matching = on
-TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
-TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 0.1 
-TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
-
-POSE_GRAPH.optimization_problem.huber_scale = 1e2
-
--- Localization --
-TRAJECTORY_BUILDER.pure_localization = true
-POSE_GRAPH.optimize_every_n_nodes = 20
-return options
diff --git a/config/mwpfl_config/start_mwpfl.yaml b/config/mwpfl_config/start_mwpfl.yaml
new file mode 100644
index 0000000..25dec43
--- /dev/null
+++ b/config/mwpfl_config/start_mwpfl.yaml
@@ -0,0 +1,9 @@
+odom_frame_id: odom
+base_frame_id: base_link
+global_frame_id: map
+update_min_distance: 0.01
+update_min_angle: 0.02
+odom_noise_rot_rot: 0.05
+odom_noise_rot_trans: 0.05
+odom_noise_trans_trans: 0.05
+odom_noise_trans_rot: 0.05
diff --git a/config/slam_toolbox_config/slam_toolbox_localization.yaml b/config/slam_toolbox_config/slam_toolbox_localization.yaml
index 39486c9..092e671 100644
--- a/config/slam_toolbox_config/slam_toolbox_localization.yaml
+++ b/config/slam_toolbox_config/slam_toolbox_localization.yaml
@@ -9,20 +9,14 @@ ceres_loss_function: None
 # ROS Parameters
 odom_frame: odom
 map_frame: map
-base_frame: base_link
-scan_topic: /scan
 mode: localization #localization
 
-# if you'd like to start localizing on bringup in a map and pose
-map_file_name: rosbot
-map_start_pose: [0, 0, 0.0]
-
 debug_logging: false
 throttle_scans: 1
 transform_publish_period: 0.02 #if 0 never publishes odometry
 map_update_interval: 5.0
 resolution: 0.05
-max_laser_range: 3.5 #for rastering images
+max_laser_range: 20 #for rastering images
 minimum_time_interval: 0.5
 transform_timeout: 0.2
 tf_buffer_duration: 10.
diff --git a/config/slam_toolbox_config/slam_toolbox_mapping.yaml b/config/slam_toolbox_config/slam_toolbox_mapping.yaml
index 0ec46b2..dacb3f3 100644
--- a/config/slam_toolbox_config/slam_toolbox_mapping.yaml
+++ b/config/slam_toolbox_config/slam_toolbox_mapping.yaml
@@ -9,8 +9,6 @@ ceres_loss_function: None
 # ROS Parameters
 odom_frame: odom
 map_frame: map
-base_frame: base_link
-scan_topic: /scan
 mode: mapping #localization
 
 debug_logging: false
@@ -18,10 +16,10 @@ throttle_scans: 1
 transform_publish_period: 0.02 #if 0 never publishes odometry
 map_update_interval: 5.0
 resolution: 0.05
-max_laser_range: 3.5 #for rastering images
+max_laser_range: 20 #for rastering images
 minimum_time_interval: 0.5
 transform_timeout: 0.2
-tf_buffer_duration: 10.
+tf_buffer_duration: 30.
 stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
 
 # General Parameters
diff --git a/launch/run_mw_mapping.launch b/launch/run_mw_mapping.launch
index 893bac7..34c9cda 100644
--- a/launch/run_mw_mapping.launch
+++ b/launch/run_mw_mapping.launch
@@ -5,7 +5,8 @@
     <arg name="odom_frame" default="odom" />
     <arg name="base_frame" default="base_link" />
     <arg name="map_frame" default="map" />
-    <arg name="cartographer" default="false" />
+    <arg name="slam_toolbox" default="false" />
+    <arg name ="localization" default="false"/>
 
     <node pkg="tf" type="static_transform_publisher" name="ROSbot2_laser" args="0 0 0 3.14 0 0 base_link laser 10" />
 
@@ -14,7 +15,7 @@
     <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
 
     <!-- NAVIGATION -->
-    <group unless="$(arg cartographer)">
+    <group unless="$(arg slam_toolbox)">
     <include file="$(find mowito_rosbot)/launch/secondary_launch/start_mw_mapping.launch">
         <arg name="scan_topic" value="/scan" /> 
         <arg name="laser_frame" value="laser" />
@@ -24,17 +25,12 @@
     </include>
     </group>
     
-    <group if="$(arg cartographer)">
-    <node name="cartographer_node" pkg="cartographer_ros"
-      type="cartographer_node" args="
-          -configuration_directory $(find mowito_rosbot)/config/carto_config
-          -configuration_basename rosbot.lua"
-      output="screen">
-    </node>  
-
-    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
-    </group>
+    <group if="$(arg slam_toolbox)">
+    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
+      <arg name="localization" value="$(arg localization)"/>
+      <arg name="base_frame" value="$(arg base_frame)"/>
+      <arg name="scan_topic" value="$(arg scan_topic)" />
+    </include>
 
  
 </launch>
diff --git a/launch/run_mw_mapping_slam_toolbox.launch b/launch/run_mw_mapping_slam_toolbox.launch
deleted file mode 100644
index 4af362e..0000000
--- a/launch/run_mw_mapping_slam_toolbox.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-    <node pkg="tf" type="static_transform_publisher" name="ROSbot2_laser" args="0 0 0 3.14 0 0 base_link laser 10" />
-
-    <!-- actual rosbot sensor-->
-    <include file="$(find rosbot_ekf)/launch/all.launch"/>
-    <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
-
-    <!-- MAPPING -->
-    <node pkg="slam_toolbox" type="async_slam_toolbox_node" name="slam_toolbox" output="screen">
-        <rosparam command="load" file="$(find mowito_rosbot)/config/slam_toolbox_config/slam_toolbox_mapping.yaml" />
-    </node>
-
- 
-</launch>
diff --git a/launch/run_mw_navigation.launch b/launch/run_mw_navigation.launch
index 1f12ca1..f8f0a2f 100644
--- a/launch/run_mw_navigation.launch
+++ b/launch/run_mw_navigation.launch
@@ -2,15 +2,19 @@
     <arg name="map_path" default="$(find mw_mapping)/maps/mowito_map.yaml"/>
     <arg name="respawn" default="true"/>
     <arg name="debug" default="false"/>
-    <arg name="cartographer" default="false" />
-    <arg name="carto_map" default="$(find mowito_rosbot)/samples/maps/carto_map.pbstream" />
+    <arg name="slam_toolbox" default="false" />
+    <arg name ="localization" default="true"/>
+    <arg name="scan_topic" default="/scan" /> 
+    <arg name="base_frame" default="base_link" />
+    <arg name="map_file_name" default="slam_map"/>
+    <arg name="map_start_pose" default="[0.0, 0.0, 0.0]"/>
 
     <!-- actual rosbot sensors -->
     <include file="$(find rosbot_ekf)/launch/all.launch"/>
     <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
 
     <!-- localization node-->
-    <group unless="$(arg cartographer)">
+    <group unless="$(arg slam_toolbox)">
         <include file="$(find mowito_rosbot)/launch/secondary_launch/start_mwpfl.launch">
             <arg name="map_address" value="$(arg map_path)"/>
             <arg name="robot_init_x" value="0"/>
@@ -20,16 +24,14 @@
     </group>
 
     <!-- with cartographer -->
-    <group if="$(arg cartographer)">
-        <node name="cartographer_node" pkg="cartographer_ros"
-          type="cartographer_node" args="
-              -configuration_directory $(find mowito_rosbot)/config/carto_config
-              -configuration_basename rosbot_localization.lua
-    	  -load_state_filename $(arg carto_map)"
-          output="screen">
-        </node>  
-        <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+    <group if="$(arg slam_toolbox)">
+    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
+        <arg name="base_frame" default="$(arg base_frame)" />
+        <arg name="scan_topic" value="$(arg scan_topic)" />
+        <arg name="localization" value="$(arg localization)"/>
+        <arg name="map_file_name" value="$(arg map_file_name)"/>
+        <arg name="map_start_pose" default="$(arg map_start_pose)"/>
+    </include>
     </group>
 
 
diff --git a/launch/run_mw_navigation_slam_toolbox.launch b/launch/run_mw_navigation_slam_toolbox.launch
deleted file mode 100644
index d499e30..0000000
--- a/launch/run_mw_navigation_slam_toolbox.launch
+++ /dev/null
@@ -1,27 +0,0 @@
-<launch>
-    <arg name="map_path" default="$(find mw_mapping)/maps/mowito_map.yaml"/>
-    <arg name="respawn" default="true"/>
-    <arg name="debug" default="false"/>
-
-
-    <!-- actual rosbot sensors -->
-    <include file="$(find rosbot_ekf)/launch/all.launch"/>
-    <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
-
-    <!-- localization node-->
-
-    <node pkg="slam_toolbox" type="localization_slam_toolbox_node" name="slam_toolbox" output="screen">
-        <rosparam command="load" file="$(find mowito_rosbot)/config/slam_toolbox_config/slam_toolbox_localization.yaml" />
-    </node>
-
-
-    <!-- navigation stack-->
-    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_nav_server.launch">
-        <arg name="mission_executive_config" value="$(find mowito_rosbot)/config/mission_executive_config/mission_executive_params.yaml"/>
-        <arg name="respawn" value="$(arg respawn)"/>
-        <arg name="gp_debug" value="$(arg debug)"/>
-        <arg name="ctrl_debug" value="$(arg debug)"/>    
-        <arg name="rcvr_debug" value="$(arg debug)"/>    
-    </include>
-    
-</launch>
diff --git a/launch/run_mw_navigation_with_no_map.launch b/launch/run_mw_navigation_with_no_map.launch
index c316dc4..bfbce73 100644
--- a/launch/run_mw_navigation_with_no_map.launch
+++ b/launch/run_mw_navigation_with_no_map.launch
@@ -5,7 +5,8 @@
     <arg name="odom_frame" default="odom" />
     <arg name="base_frame" default="base_link" />
     <arg name="map_frame" default="map" />
-    <arg name="cartographer" default="false" />
+    <arg name="slam_toolbox" default="false" />
+    <arg name ="localization" default="false"/>
     <arg name="respawn" default="true"/>
     <arg name="debug" default="false"/>
 
@@ -16,7 +17,7 @@
     <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
 
     <!-- mapping node-->
-    <group unless="$(arg cartographer)">
+    <group unless="$(arg slam_toolbox)">
     <include file="$(find mowito_rosbot)/launch/secondary_launch/start_mw_mapping.launch">
         <arg name="scan_topic" value="/scan" /> 
         <arg name="laser_frame" value="laser" />
@@ -26,15 +27,12 @@
     </include>
     </group>
     
-    <group if="$(arg cartographer)">
-    <node name="cartographer_node" pkg="cartographer_ros"
-      type="cartographer_node" args="
-          -configuration_directory $(find mowito_rosbot)/config/carto_config
-          -configuration_basename rosbot.lua"
-      output="screen">
-    </node>  
-    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+    <group if="$(arg slam_toolbox)">
+    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
+      <arg name="localization" value="$(arg localization)"/>
+      <arg name="base_frame" value="$(arg base_frame)"/>
+      <arg name="scan_topic" value="$(arg scan_topic)" />
+    </include>
     </group>
 
 
diff --git a/launch/run_mw_navigation_with_no_map_slam_toolbox.launch b/launch/run_mw_navigation_with_no_map_slam_toolbox.launch
deleted file mode 100644
index e3193c5..0000000
--- a/launch/run_mw_navigation_with_no_map_slam_toolbox.launch
+++ /dev/null
@@ -1,28 +0,0 @@
-<launch>
-
-    <arg name="respawn" default="true"/>
-    <arg name="debug" default="false"/>
-
-    <node pkg="tf" type="static_transform_publisher" name="ROSbot2_laser" args="0 0 0 3.14 0 0 base_link laser 10" />
-
-    <!-- actual rosbot sensor -->
-    <include file="$(find rosbot_ekf)/launch/all.launch"/>
-    <include file="$(find rplidar_ros)/launch/rplidar.launch"/>
-
-    <!-- mapping node-->
-    <node pkg="slam_toolbox" type="async_slam_toolbox_node" name="slam_toolbox" output="screen">
-        <rosparam command="load" file="$(find mowito_rosbot)/config/slam_toolbox_config/slam_toolbox_mapping.yaml" />
-    </node>
-
-
-
-    <!-- nav server-->
-    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_nav_server.launch">
-        <arg name="mission_executive_config" value="$(find mowito_rosbot)/config/mission_executive_config/mission_executive_params.yaml"/>
-        <arg name="respawn" value="$(arg respawn)"/>
-        <arg name="gp_debug" value="$(arg debug)"/>
-        <arg name="ctrl_debug" value="$(arg debug)"/> 
-        <arg name="rcvr_debug" value="$(arg debug)"/>  
-    </include>
-
-</launch>
diff --git a/launch/secondary_launch/start_mwpfl.launch b/launch/secondary_launch/start_mwpfl.launch
index 57b22d1..24af0bc 100644
--- a/launch/secondary_launch/start_mwpfl.launch
+++ b/launch/secondary_launch/start_mwpfl.launch
@@ -21,30 +21,10 @@
     <node pkg="mwpfl" type="mwpfl" name="mwpfl" output="screen">
         <remap from="scan" to="$(arg scan_topic)" />
         <remap from="initialpose" to="initialpose" />
-
         <param name="initial_pose_x" value="$(arg robot_init_x)"/>
         <param name="initial_pose_y" value="$(arg robot_init_y)"/>
         <param name="initial_pose_a" value="$(arg robot_init_phi)"/>
-
-        <param name="odom_frame_id" value="odom"/>
-        <param name="base_frame_id" value="base_link"/>
-        <param name="global_frame_id" value="map"/>
-
-        <!-- min thresholds for updating the estimates-->
-        <!-- negative value will make it update at laser scan frequency -->
-        <!-- max distance to skip laser scans-->
-        <!-- <param name="update_min_distance" value="0.1"/> -->
-        <param name="update_min_distance" value="0.01"/>
-        <!-- max angle diff to skip laser scans-->
-        <!-- <param name="update_min_angle" value="0.2"/> -->
-        <param name="update_min_angle" value="0.02"/>
-        <!-- odometry model-->
-        <!--values of noise are smaller for diff-corrected than for diff model (which is 0.2) -->
-        <param name="odom_noise_rot_rot" value="0.05"/>
-        <param name="odom_noise_rot_trans" value="0.05"/>
-        <param name="odom_noise_trans_trans" value="0.05"/>
-        <param name="odom_noise_trans_rot" value="0.05"/>
-      
+        <rosparam command="load" file="$(find mowito_rosbot)/config/mwpfl_config/start_mwpfl.yaml" />   
     </node>
 
 </launch>
diff --git a/launch/secondary_launch/start_slam_toolbox.launch b/launch/secondary_launch/start_slam_toolbox.launch
new file mode 100644
index 0000000..80e118e
--- /dev/null
+++ b/launch/secondary_launch/start_slam_toolbox.launch
@@ -0,0 +1,25 @@
+<launch>
+    <arg name="base_frame" default="base_link" />
+    <arg name="scan_topic" default="/scan" /> 
+    <arg name="localization" default="false"/>
+    <arg name="map_file_name" default="slam_map"/>
+    <arg name="map_start_pose" default="[0.0, 0.0, 0.0]"/>
+
+    <group unless="$(arg localization)">
+    <node pkg="slam_toolbox" type="async_slam_toolbox_node" name="slam_toolbox" output="screen">
+        <param name="base_frame" value="$(arg base_frame)"/>
+        <param name="scan_topic" value="$(arg scan_topic)"/>
+        <rosparam command="load" file="$(find mowito_rosbot)/config/slam_toolbox_config/slam_toolbox_mapping.yaml" />
+    </node>
+    </group>
+
+    <group if="$(arg localization)">
+    <node pkg="slam_toolbox" type="localization_slam_toolbox_node" name="slam_toolbox" output="screen">
+        <param name="base_frame" value="$(arg base_frame)"/>
+        <param name="scan_topic" value="$(arg scan_topic)"/>
+        <param name="map_file_name" value ="$(find mowito_rosbot)/samples/maps/$(arg map_file_name)"/>
+        <rosparam param="map_start_pose" subst_value="True">$(arg map_start_pose)</rosparam>
+        <rosparam command="load" file="$(find mowito_rosbot)/config/slam_toolbox_config/slam_toolbox_localization.yaml"/>
+    </node>
+    </group>
+</launch>
diff --git a/launch/simulation/sim_follow_me.launch b/launch/simulation/sim_follow_me.launch
index c7791ca..0c54785 100644
--- a/launch/simulation/sim_follow_me.launch
+++ b/launch/simulation/sim_follow_me.launch
@@ -19,9 +19,12 @@
     
     <!-- mwpfl and cartographer params -->
     <arg name="map_path" default="$(find mw_mapping)/maps/mowito_map.yaml"/>
-    <arg name="cartographer" default="false" />
-    <arg name="carto_map" default="$(find mowito_rosbot)/samples/maps/carto_map.pbstream" />
-
+    <arg name="slam_toolbox" default="false" />
+    <arg name="map_file_name" default="slam_map"/>
+    <arg name="map_start_pose" default="[0.0, 0.0, 0.0]"/>
+    <arg name ="localization" default="true"/>
+    <arg name="scan_topic" default="/scan" /> 
+    <arg name="base_frame" default="base_link" />
 
     <!-- =============== SIMULATION =============== -->
 
@@ -38,7 +41,7 @@
 
     <!-- mapping and localization -->
     <!-- MWPFL-->
-    <group unless="$(arg cartographer)">
+    <group unless="$(arg slam_toolbox">
       <include file="$(find mowito_rosbot)/launch/secondary_launch/start_mwpfl.launch">
           <arg name="map_address" value="$(arg map_path)"/>
           <arg name="robot_init_x" value="0"/>
@@ -49,16 +52,14 @@
     </group>
 
     <!-- Cartographer-->
-    <group if="$(arg cartographer)">
-      <node name="cartographer_node" pkg="cartographer_ros"
-        type="cartographer_node" args="
-            -configuration_directory $(find mowito_rosbot)/config/carto_config
-            -configuration_basename rosbot_localization.lua
-      -load_state_filename $(arg carto_map)"
-        output="screen">
-      </node>  
-      <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-        type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+    <group if="$(arg slam_toolbox">
+    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
+        <arg name="base_frame" default="$(arg base_frame)" />
+        <arg name="scan_topic" value="$(arg scan_topic)" />
+        <arg name="localization" value="$(arg localization)"/>
+        <arg name="map_file_name" value="$(arg map_file_name)"/>
+        <arg name="map_start_pose" default="$(arg map_start_pose)"/>
+    </include>
     </group>
 
 
diff --git a/launch/simulation/sim_mw_mapping.launch b/launch/simulation/sim_mw_mapping.launch
index ab0cdf5..c9e5792 100644
--- a/launch/simulation/sim_mw_mapping.launch
+++ b/launch/simulation/sim_mw_mapping.launch
@@ -5,7 +5,8 @@
     <arg name="odom_frame" default="odom" />
     <arg name="base_frame" default="base_link" />
     <arg name="map_frame" default="map" />
-    <arg name="cartographer" default="false" />
+    <arg name="slam_toolbox" default="false" />
+    <arg name ="localization" default="false"/>
     <arg name="world_name" default="mowito"/>
     <arg name="gui" default="true"/>
 
@@ -24,7 +25,7 @@
     </include>
 
     <!-- NAVIGATION -->
-    <group unless="$(arg cartographer)">
+    <group unless="$(arg slam_toolbox)">
     <include file="$(find mowito_rosbot)/launch/secondary_launch/start_mw_mapping.launch">
         <arg name="scan_topic" value="/scan" /> 
         <arg name="laser_frame" value="laser" />
@@ -34,15 +35,14 @@
     </include>
     </group>
     
-    <group if="$(arg cartographer)">
-    <node name="cartographer_node" pkg="cartographer_ros"
-      type="cartographer_node" args="
-          -configuration_directory $(find mowito_rosbot)/config/carto_config
-          -configuration_basename rosbot.lua"
-      output="screen">
-    </node>  
-    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+    <group if="$(arg slam_toolbox)">
+    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_mw_mapping.launch">
+        <arg name="scan_topic" value="/scan" /> 
+        <arg name="laser_frame" value="laser" />
+        <arg name="odom_frame" value="odom" />
+        <arg name="base_frame" value="base_link" />
+        <arg name="map_frame" value="map" />
+    </include>
     </group>
  
 </launch>
diff --git a/launch/simulation/sim_mw_navigation.launch b/launch/simulation/sim_mw_navigation.launch
index b524de1..c7bf97f 100644
--- a/launch/simulation/sim_mw_navigation.launch
+++ b/launch/simulation/sim_mw_navigation.launch
@@ -3,9 +3,13 @@
     <arg name="respawn" default="true"/>
     <arg name="debug" default="false"/>
     <arg name="world_name" default="mowito"/>
-    <arg name="gui" default="true"/>
-    <arg name="cartographer" default="false" />
-    <arg name="carto_map" default="$(find mowito_rosbot)/samples/maps/carto_map.pbstream" />
+    <arg name="gui" default="false"/>
+    <arg name="slam_toolbox" default="false" />
+    <arg name ="localization" default="true"/>
+    <arg name="scan_topic" default="/scan" /> 
+    <arg name="base_frame" default="base_link" />
+    <arg name="map_file_name" default="slam_map"/>
+    <arg name="map_start_pose" default="[0.0, 0.0, 0.0]"/>
     <!-- rviz config file for visualization -->
     <arg name="rviz_file" default="rosbot.rviz"/>
 
@@ -27,7 +31,7 @@
 
     <!-- NAVIGATION -->
     <!-- localization node-->
-    <group unless="$(arg cartographer)">
+    <group unless="$(arg slam_toolbox)">
     <include file="$(find mowito_rosbot)/launch/secondary_launch/start_mwpfl.launch">
         <arg name="map_address" value="$(find mowito_rosbot)/samples/maps/$(arg map_name).yaml"/>
         <arg name="robot_init_x" value="0"/>
@@ -37,16 +41,14 @@
     </include>
     </group>
 
-    <group if="$(arg cartographer)">
-    <node name="cartographer_node" pkg="cartographer_ros"
-      type="cartographer_node" args="
-          -configuration_directory $(find mowito_rosbot)/config/carto_config
-          -configuration_basename rosbot_localization.lua
-	  -load_state_filename $(arg carto_map)"
-      output="screen">
-    </node>  
-    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+    <group if="$(arg slam_toolbox)">
+    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
+        <arg name="base_frame" default="$(arg base_frame)" />
+        <arg name="scan_topic" value="$(arg scan_topic)" />
+        <arg name="localization" value="$(arg localization)"/>
+        <arg name="map_file_name" value="$(arg map_file_name)"/>
+        <arg name="map_start_pose" default="$(arg map_start_pose)"/>
+    </include>
     </group>
 
 
diff --git a/launch/simulation/sim_mw_navigation_with_no_map.launch b/launch/simulation/sim_mw_navigation_with_no_map.launch
index c5abf75..3caa5f1 100644
--- a/launch/simulation/sim_mw_navigation_with_no_map.launch
+++ b/launch/simulation/sim_mw_navigation_with_no_map.launch
@@ -5,15 +5,13 @@
     <arg name="odom_frame" default="odom" />
     <arg name="base_frame" default="base_link" />
     <arg name="map_frame" default="map" />
-    <arg name="cartographer" default="false" />
+    <arg name="slam_toolbox" default="false" />
+    <arg name ="localization" default="false"/>
     <arg name="respawn" default="true"/>
     <arg name="debug" default="false"/>
 
     <arg name="world_name" default="mowito"/>
-    <arg name="gui" default="true"/>
-
-
-    <node pkg="tf" type="static_transform_publisher" name="ROSbot2_laser" args="0 0 0 3.14 0 0 base_link laser 10" />
+    <arg name="gui" default="false"/>
 
     <!-- SIMULATION -->
     <!-- rosbot and the rviz-->
@@ -29,7 +27,7 @@
    
     <!-- NAVIGATION -->
     <!-- mapping node-->
-    <group unless="$(arg cartographer)">
+    <group unless="$(arg slam_toolbox)">
     <include file="$(find mowito_rosbot)/launch/secondary_launch/start_mw_mapping.launch">
         <arg name="scan_topic" value="/scan" /> 
         <arg name="laser_frame" value="laser" />
@@ -39,15 +37,12 @@
     </include>
     </group>
     
-    <group if="$(arg cartographer)">
-    <node name="cartographer_node" pkg="cartographer_ros"
-      type="cartographer_node" args="
-          -configuration_directory $(find mowito_rosbot)/config/carto_config
-          -configuration_basename rosbot.lua"
-      output="screen">
-    </node>  
-    <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
-      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
+    <group if="$(arg slam_toolbox)">
+    <include file="$(find mowito_rosbot)/launch/secondary_launch/start_slam_toolbox.launch">
+        <arg name="localization" value="$(arg localization)"/>
+        <arg name="base_frame" value="$(arg base_frame)"/>
+        <arg name="scan_topic" value="$(arg scan_topic)" />
+    </include>
     </group>
 
 
diff --git a/samples/maps/slam_map.data b/samples/maps/slam_map.data
new file mode 100644
index 0000000..850ecee
Binary files /dev/null and b/samples/maps/slam_map.data differ
diff --git a/samples/maps/slam_map.posegraph b/samples/maps/slam_map.posegraph
new file mode 100644
index 0000000..232cf36
Binary files /dev/null and b/samples/maps/slam_map.posegraph differ