diff --git a/deploy/nav2_ws/maps/feb22_hallway.data b/deploy/nav2_ws/maps/feb22_hallway.data
new file mode 100644
index 0000000..4bf32e7
Binary files /dev/null and b/deploy/nav2_ws/maps/feb22_hallway.data differ
diff --git a/deploy/nav2_ws/maps/feb22_hallway.pgm b/deploy/nav2_ws/maps/feb22_hallway.pgm
new file mode 100644
index 0000000..f602387
Binary files /dev/null and b/deploy/nav2_ws/maps/feb22_hallway.pgm differ
diff --git a/deploy/nav2_ws/maps/feb22_hallway.posegraph b/deploy/nav2_ws/maps/feb22_hallway.posegraph
new file mode 100644
index 0000000..bc7c3c1
Binary files /dev/null and b/deploy/nav2_ws/maps/feb22_hallway.posegraph differ
diff --git a/deploy/nav2_ws/maps/feb22_hallway.yaml b/deploy/nav2_ws/maps/feb22_hallway.yaml
new file mode 100644
index 0000000..34c4978
--- /dev/null
+++ b/deploy/nav2_ws/maps/feb22_hallway.yaml
@@ -0,0 +1,7 @@
+image: feb22_hallway.pgm
+mode: trinary
+resolution: 0.05
+origin: [-42.3, -30, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file
diff --git a/deploy/nav2_ws/maps/feb23_basement.data b/deploy/nav2_ws/maps/feb23_basement.data
new file mode 100644
index 0000000..9754399
Binary files /dev/null and b/deploy/nav2_ws/maps/feb23_basement.data differ
diff --git a/deploy/nav2_ws/maps/feb23_basement.pgm b/deploy/nav2_ws/maps/feb23_basement.pgm
new file mode 100644
index 0000000..1fd5b71
Binary files /dev/null and b/deploy/nav2_ws/maps/feb23_basement.pgm differ
diff --git a/deploy/nav2_ws/maps/feb23_basement.posegraph b/deploy/nav2_ws/maps/feb23_basement.posegraph
new file mode 100644
index 0000000..0aef947
Binary files /dev/null and b/deploy/nav2_ws/maps/feb23_basement.posegraph differ
diff --git a/deploy/nav2_ws/maps/feb23_basement.yaml b/deploy/nav2_ws/maps/feb23_basement.yaml
new file mode 100644
index 0000000..9eebfbf
--- /dev/null
+++ b/deploy/nav2_ws/maps/feb23_basement.yaml
@@ -0,0 +1,7 @@
+image: feb23_basement.pgm
+mode: trinary
+resolution: 0.05
+origin: [-42.4, -30.2, 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/navigation.launch.py b/deploy/nav2_ws/src/sportmode_nav2/launch/navigation.launch.py
index b6b9ba8..c48a741 100644
--- a/deploy/nav2_ws/src/sportmode_nav2/launch/navigation.launch.py
+++ b/deploy/nav2_ws/src/sportmode_nav2/launch/navigation.launch.py
@@ -48,7 +48,7 @@ def generate_launch_description():
     #              https://github.com/ros2/launch_ros/issues/56
     remappings = [('/tf', '/tf'),
                   ('/tf_static', '/tf_static'),
-                  ('/cmd_vel', '/go2/twist_cmd')]
+                  ('/cmd_vel', '/go2/cmd_vel')]
 
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {
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 bf37f67..3506980 100644
--- a/deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml
+++ b/deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml
@@ -19,7 +19,7 @@ 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/maps/Feb21_hallway
+    map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/maps/feb23_basement
     #map_start_pose: [0.33, 1.49, 0.0]
     map_start_at_dock: true