diff --git a/deploy/nav2_ws/Feb21_hallway.data b/deploy/nav2_ws/Feb21_hallway.data
new file mode 100644
index 0000000..54995d7
Binary files /dev/null and b/deploy/nav2_ws/Feb21_hallway.data differ
diff --git a/deploy/nav2_ws/Feb21_hallway.pgm b/deploy/nav2_ws/Feb21_hallway.pgm
new file mode 100644
index 0000000..ba58625
Binary files /dev/null and b/deploy/nav2_ws/Feb21_hallway.pgm differ
diff --git a/deploy/nav2_ws/Feb21_hallway.posegraph b/deploy/nav2_ws/Feb21_hallway.posegraph
new file mode 100644
index 0000000..689e630
Binary files /dev/null and b/deploy/nav2_ws/Feb21_hallway.posegraph differ
diff --git a/deploy/nav2_ws/Feb21_hallway.yaml b/deploy/nav2_ws/Feb21_hallway.yaml
new file mode 100644
index 0000000..d3ef08f
--- /dev/null
+++ b/deploy/nav2_ws/Feb21_hallway.yaml
@@ -0,0 +1,7 @@
+image: Feb21_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/src/sportmode_nav2/params/localization_async.yaml b/deploy/nav2_ws/src/sportmode_nav2/params/localization_async.yaml
index 818b7e1..18ec5d1 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/Feb19_Room
+    map_file_name: /home/unitree/locomotion/Go2Py/deploy/nav2_ws/Feb21_hallway
     #map_start_pose: [0.33, 1.49, 0.0]
     map_start_at_dock: true
 
diff --git a/deploy/nav2_ws/test_map.data b/deploy/nav2_ws/test_map.data
new file mode 100644
index 0000000..a252f87
Binary files /dev/null and b/deploy/nav2_ws/test_map.data differ
diff --git a/deploy/nav2_ws/test_map.pgm b/deploy/nav2_ws/test_map.pgm
new file mode 100644
index 0000000..a35d2ad
Binary files /dev/null and b/deploy/nav2_ws/test_map.pgm differ
diff --git a/deploy/nav2_ws/test_map.posegraph b/deploy/nav2_ws/test_map.posegraph
new file mode 100644
index 0000000..1fcf73c
Binary files /dev/null and b/deploy/nav2_ws/test_map.posegraph differ
diff --git a/deploy/nav2_ws/test_map.yaml b/deploy/nav2_ws/test_map.yaml
new file mode 100644
index 0000000..cea2627
--- /dev/null
+++ b/deploy/nav2_ws/test_map.yaml
@@ -0,0 +1,7 @@
+image: test_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-4.04, -1.43, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file