diff --git a/deploy/nav2_ws/maps/feb22_room.data b/deploy/nav2_ws/maps/feb22_room.data
new file mode 100644
index 0000000..1803290
Binary files /dev/null and b/deploy/nav2_ws/maps/feb22_room.data differ
diff --git a/deploy/nav2_ws/maps/feb22_room.pgm b/deploy/nav2_ws/maps/feb22_room.pgm
new file mode 100644
index 0000000..a97b642
Binary files /dev/null and b/deploy/nav2_ws/maps/feb22_room.pgm differ
diff --git a/deploy/nav2_ws/maps/feb22_room.posegraph b/deploy/nav2_ws/maps/feb22_room.posegraph
new file mode 100644
index 0000000..58a8ea4
Binary files /dev/null and b/deploy/nav2_ws/maps/feb22_room.posegraph differ
diff --git a/deploy/nav2_ws/maps/feb22_room.yaml b/deploy/nav2_ws/maps/feb22_room.yaml
new file mode 100644
index 0000000..597e9df
--- /dev/null
+++ b/deploy/nav2_ws/maps/feb22_room.yaml
@@ -0,0 +1,7 @@
+image: feb22_room.pgm
+mode: trinary
+resolution: 0.05
+origin: [-4.24, -5.54, 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/launch/navigation.launch.py b/deploy/nav2_ws/src/sportmode_nav2/launch/navigation.launch.py
index 9784090..b6b9ba8 100644
--- a/deploy/nav2_ws/src/sportmode_nav2/launch/navigation.launch.py
+++ b/deploy/nav2_ws/src/sportmode_nav2/launch/navigation.launch.py
@@ -47,7 +47,8 @@ def generate_launch_description():
     # TODO(orduno) Substitute with `PushNodeRemapping`
     #              https://github.com/ros2/launch_ros/issues/56
     remappings = [('/tf', '/tf'),
-                  ('/tf_static', '/tf_static')]
+                  ('/tf_static', '/tf_static'),
+                  ('/cmd_vel', '/go2/twist_cmd')]
 
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {