diff --git a/deploy/nav2_ws/Feb16_hallway_map.data b/deploy/nav2_ws/Feb16_hallway_map.data
new file mode 100644
index 0000000..e8b4bc5
Binary files /dev/null and b/deploy/nav2_ws/Feb16_hallway_map.data differ
diff --git a/deploy/nav2_ws/Feb16_hallway_map.pgm b/deploy/nav2_ws/Feb16_hallway_map.pgm
new file mode 100644
index 0000000..4ba7c06
Binary files /dev/null and b/deploy/nav2_ws/Feb16_hallway_map.pgm differ
diff --git a/deploy/nav2_ws/Feb16_hallway_map.posegraph b/deploy/nav2_ws/Feb16_hallway_map.posegraph
new file mode 100644
index 0000000..7dafed7
Binary files /dev/null and b/deploy/nav2_ws/Feb16_hallway_map.posegraph differ
diff --git a/deploy/nav2_ws/Feb16_hallway_map.yaml b/deploy/nav2_ws/Feb16_hallway_map.yaml
new file mode 100644
index 0000000..c66dd5a
--- /dev/null
+++ b/deploy/nav2_ws/Feb16_hallway_map.yaml
@@ -0,0 +1,7 @@
+image: Feb16_hallway_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-21.1, -27.3, 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/launch/localization.launch.py b/deploy/nav2_ws/src/sportmode_nav2/launch/localization.launch.py
new file mode 100644
index 0000000..839f1ce
--- /dev/null
+++ b/deploy/nav2_ws/src/sportmode_nav2/launch/localization.launch.py
@@ -0,0 +1,27 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+   
+    robot_localization = IncludeLaunchDescription(
+      PythonLaunchDescriptionSource([os.path.join(
+         get_package_share_directory('sportmode_nav2'), 'launch'),
+         '/ros_ekf.launch.py'])
+      )
+    async_mapping = IncludeLaunchDescription(
+      PythonLaunchDescriptionSource([os.path.join(
+         get_package_share_directory('sportmode_nav2'), 'launch'),
+         '/localization_async.launch.py'])
+      )
+
+    return LaunchDescription([
+        robot_localization,
+        async_mapping,
+   ])
\ 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 a4d70c9..9ca9223 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/unitree/locomotion/Go2Py/deploy/nav2_ws/lab_and_hallway
-    # map_start_pose: [0.0, 0.0, 0.0]
-    map_start_at_dock: true
+    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
 
     debug_logging: false
     throttle_scans: 1