diff --git a/deploy/nav2_ws/Feb16_map_afternoon.data b/deploy/nav2_ws/Feb16_map_afternoon.data
new file mode 100644
index 0000000..d01517f
Binary files /dev/null and b/deploy/nav2_ws/Feb16_map_afternoon.data differ
diff --git a/deploy/nav2_ws/Feb16_map_afternoon.pgm b/deploy/nav2_ws/Feb16_map_afternoon.pgm
new file mode 100644
index 0000000..8c5eba0
Binary files /dev/null and b/deploy/nav2_ws/Feb16_map_afternoon.pgm differ
diff --git a/deploy/nav2_ws/Feb16_map_afternoon.posegraph b/deploy/nav2_ws/Feb16_map_afternoon.posegraph
new file mode 100644
index 0000000..e6c8af7
Binary files /dev/null and b/deploy/nav2_ws/Feb16_map_afternoon.posegraph differ
diff --git a/deploy/nav2_ws/Feb16_map_afternoon.yaml b/deploy/nav2_ws/Feb16_map_afternoon.yaml
new file mode 100644
index 0000000..5f834c8
--- /dev/null
+++ b/deploy/nav2_ws/Feb16_map_afternoon.yaml
@@ -0,0 +1,7 @@
+image: Feb16_map_afternoon.pgm
+mode: trinary
+resolution: 0.05
+origin: [-4.25, -2.39, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file
diff --git a/deploy/nav2_ws/Feb19_Room.data b/deploy/nav2_ws/Feb19_Room.data
new file mode 100644
index 0000000..2398262
Binary files /dev/null and b/deploy/nav2_ws/Feb19_Room.data differ
diff --git a/deploy/nav2_ws/Feb19_Room.pgm b/deploy/nav2_ws/Feb19_Room.pgm
new file mode 100644
index 0000000..98ad474
Binary files /dev/null and b/deploy/nav2_ws/Feb19_Room.pgm differ
diff --git a/deploy/nav2_ws/Feb19_Room.posegraph b/deploy/nav2_ws/Feb19_Room.posegraph
new file mode 100644
index 0000000..6bd86f6
Binary files /dev/null and b/deploy/nav2_ws/Feb19_Room.posegraph differ
diff --git a/deploy/nav2_ws/Feb19_Room.yaml b/deploy/nav2_ws/Feb19_Room.yaml
new file mode 100644
index 0000000..349415c
--- /dev/null
+++ b/deploy/nav2_ws/Feb19_Room.yaml
@@ -0,0 +1,7 @@
+image: Feb19_Room.pgm
+mode: trinary
+resolution: 0.05
+origin: [-4.07, -1.54, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file
diff --git a/deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml b/deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml
index 9ca9223..818b7e1 100644
--- a/deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml
+++ b/deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml
@@ -19,9 +19,9 @@ slam_toolbox:
     # if you'd like to immediately start continuing a map at a given pose
     # or at the dock, but they are mutually exclusive, if pose is given
     # will use pose
-    map_file_name: /home/rstaion/projects/rooholla/locomotion/Go2Py/deploy/nav2_ws/Feb16_hallway_map
-    map_start_pose: [0.33, 1.49, 0.0]
-    # map_start_at_dock: true
+    map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/Feb19_Room
+    #map_start_pose: [0.33, 1.49, 0.0]
+    map_start_at_dock: true
 
     debug_logging: false
     throttle_scans: 1
diff --git a/deploy/nav2_ws/src/sportmode_nav2/params/ros_ekf.yaml b/deploy/nav2_ws/src/sportmode_nav2/params/ros_ekf.yaml
index 31a508e..f1b2cfd 100644
--- a/deploy/nav2_ws/src/sportmode_nav2/params/ros_ekf.yaml
+++ b/deploy/nav2_ws/src/sportmode_nav2/params/ros_ekf.yaml
@@ -114,7 +114,7 @@ ekf_filter_node:
 # for all future measurements. While you can achieve the same effect with the differential paremeter, the key
 # difference is that the relative parameter doesn't cause the measurement to be converted to a velocity before
 # integrating it. If you simply want your measurements to start at 0 for a given sensor, set this to true.
-        odom0_relative: false
+        odom0_relative: true
 
 # [ADVANCED] If your data is subject to outliers, use these threshold settings, expressed as Mahalanobis distances, to
 # control how far away from the current vehicle state a sensor measurement is permitted to be. Each defaults to