diff --git a/README.md b/README.md
index 41b4a35..e6e3ddc 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,47 @@
-# Navigate_Multiple_Robots
+# Navigate Multiple Turtlebots
 
-![alt text](https://raw.githubusercontent.com/Pallav1299/Navigate_Multiple_Robots/master/thumbnail.png)
+![alt text](https://github.com/Barath19/Navigate_Multiple_Turtlebots/blob/master/assets/banner.png)
 
-How to navigate multiple robots in simulation using ROS and Gazebo.
+## Getting Started
 
-[![Watch the video](https://drive.google.com/file/d/14nKAhJnAltBh2-BE7m0fL__4v2HSFjEn/view?usp=sharing)](https://www.youtube.com/watch?v=iyL_hsqjKWI)
+### Clone the repository
+```
+cd ~/catkin_ws/src
+git clone https://github.com/Barath19/Navigate_Multiple_Turtlebots/tree/master
+```
+### Building the package
+```
+cd ..
+catkin build
+```
 
-Topic Credits:
-"The Construct"
+### Running the package
+
+Open a new terminal (Source the workspace)
+```
+roslaunch multi_turtlebots_sim main.launch
+```
+![alt text](assets/gazebo.png)
+Open another terminal (Source the workspace)
+```
+roslaunch multi_turtlebots_nav navigation.launch 
+```
+
+
+![alt text](assets/rviz_init.png)
+## Localization using AMCL
+
+- Once the rviz is opened, use the ``` Tool Properties ``` panel to set the robot initial pose and robot goal pose to respective robot's namespace. E.g. for ``` robot2 ```
+![alt text](assets/tool_properties.png)
+
+- Set the 2D navigation goal for the selected robot.
+
+![alt text](assets/2dnav.png)
+
+### Repeat the above two localization steps for all the robots, Until the particles converge.
+
+![alt text](assets/rviz.png)
+
+## Issue
+
+- Check the map.yaml file for path.
\ No newline at end of file
diff --git a/assets/2dnav.png b/assets/2dnav.png
new file mode 100644
index 0000000..fcc34fc
Binary files /dev/null and b/assets/2dnav.png differ
diff --git a/assets/banner.png b/assets/banner.png
new file mode 100644
index 0000000..8523779
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diff --git a/assets/gazebo.png b/assets/gazebo.png
new file mode 100644
index 0000000..1e4bbdb
Binary files /dev/null and b/assets/gazebo.png differ
diff --git a/assets/rviz.png b/assets/rviz.png
new file mode 100644
index 0000000..66eb023
Binary files /dev/null and b/assets/rviz.png differ
diff --git a/assets/rviz_init.png b/assets/rviz_init.png
new file mode 100644
index 0000000..281cab3
Binary files /dev/null and b/assets/rviz_init.png differ
diff --git a/assets/tool_properties.png b/assets/tool_properties.png
new file mode 100644
index 0000000..6da675a
Binary files /dev/null and b/assets/tool_properties.png differ
diff --git a/map_launcher/map/map_tb3_10.pgm b/map_launcher/map/map_tb3_10.pgm
new file mode 100644
index 0000000..00a3f66
Binary files /dev/null and b/map_launcher/map/map_tb3_10.pgm differ
diff --git a/map_launcher/map/map_tb3_10.yaml b/map_launcher/map/map_tb3_10.yaml
new file mode 100644
index 0000000..46bc17a
--- /dev/null
+++ b/map_launcher/map/map_tb3_10.yaml
@@ -0,0 +1,7 @@
+image: /home/bk/ros1/turtle_ws/src/Navigate_Multiple_Turtlebots/map_launcher/map/map_tb3_10.pgm
+resolution: 0.050000
+origin: [-4.929477, -5.146988, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
diff --git a/map_launcher/rviz/turtlebot3_navigation.rviz b/map_launcher/rviz/turtlebot3_navigation.rviz
index af0b2b8..95e865f 100644
--- a/map_launcher/rviz/turtlebot3_navigation.rviz
+++ b/map_launcher/rviz/turtlebot3_navigation.rviz
@@ -1,17 +1,14 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 78
+    Help Height: 89
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /TF1
         - /TF1/Frames1
-        - /TF1/Tree1
-        - /Planner Plan1/Status1
-        - /Local Map1/Costmap1/Status1
-        - /Local Map1/Planner1/Status1
       Splitter Ratio: 0.5
-    Tree Height: 843
+    Tree Height: 722
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -19,17 +16,18 @@ Panels:
       - /2D Pose Estimate1
       - /2D Nav Goal1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -41,7 +39,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -201,19 +199,111 @@ Visualization Manager:
       Value: true
       Visual Enabled: true
     - Class: rviz/TF
-      Enabled: false
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: false
+        map:
+          Value: true
+        robot1_tf/base_footprint:
+          Value: true
+        robot1_tf/base_link:
+          Value: false
+        robot1_tf/base_scan:
+          Value: false
+        robot1_tf/caster_back_link:
+          Value: false
+        robot1_tf/imu_link:
+          Value: false
+        robot1_tf/odom:
+          Value: false
+        robot1_tf/wheel_left_link:
+          Value: false
+        robot1_tf/wheel_right_link:
+          Value: false
+        robot2_tf/base_footprint:
+          Value: true
+        robot2_tf/base_link:
+          Value: false
+        robot2_tf/base_scan:
+          Value: false
+        robot2_tf/caster_back_link:
+          Value: false
+        robot2_tf/imu_link:
+          Value: false
+        robot2_tf/odom:
+          Value: false
+        robot2_tf/wheel_left_link:
+          Value: false
+        robot2_tf/wheel_right_link:
+          Value: false
+        robot3_tf/base_footprint:
+          Value: true
+        robot3_tf/base_link:
+          Value: false
+        robot3_tf/base_scan:
+          Value: false
+        robot3_tf/caster_back_link:
+          Value: false
+        robot3_tf/imu_link:
+          Value: false
+        robot3_tf/odom:
+          Value: false
+        robot3_tf/wheel_left_link:
+          Value: false
+        robot3_tf/wheel_right_link:
+          Value: false
+      Marker Alpha: 1
       Marker Scale: 1
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: false
       Tree:
-        {}
+        map:
+          robot1_tf/odom:
+            robot1_tf/base_footprint:
+              robot1_tf/base_link:
+                robot1_tf/base_scan:
+                  {}
+                robot1_tf/caster_back_link:
+                  {}
+                robot1_tf/imu_link:
+                  {}
+                robot1_tf/wheel_left_link:
+                  {}
+                robot1_tf/wheel_right_link:
+                  {}
+          robot2_tf/odom:
+            robot2_tf/base_footprint:
+              robot2_tf/base_link:
+                robot2_tf/base_scan:
+                  {}
+                robot2_tf/caster_back_link:
+                  {}
+                robot2_tf/imu_link:
+                  {}
+                robot2_tf/wheel_left_link:
+                  {}
+                robot2_tf/wheel_right_link:
+                  {}
+          robot3_tf/odom:
+            robot3_tf/base_footprint:
+              robot3_tf/base_link:
+                robot3_tf/base_scan:
+                  {}
+                robot3_tf/caster_back_link:
+                  {}
+                robot3_tf/imu_link:
+                  {}
+                robot3_tf/wheel_left_link:
+                  {}
+                robot3_tf/wheel_right_link:
+                  {}
       Update Interval: 0
-      Value: false
+      Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
@@ -223,21 +313,19 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz/LaserScan
-      Color: 0; 255; 0
+      Color: 239; 41; 41
       Color Transformer: FlatColor
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 13069
       Min Color: 0; 0; 0
-      Min Intensity: 28
       Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.0300000012
+      Size (m): 0.05000000074505806
       Style: Flat Squares
       Topic: /robot1/scan
       Unreliable: false
@@ -259,15 +347,13 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 13069
       Min Color: 0; 0; 0
-      Min Intensity: 28
       Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.0300000012
+      Size (m): 0.05000000074505806
       Style: Flat Squares
       Topic: /robot2/scan
       Unreliable: false
@@ -283,21 +369,19 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz/LaserScan
-      Color: 0; 255; 0
+      Color: 32; 74; 135
       Color Transformer: FlatColor
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 13069
       Min Color: 0; 0; 0
-      Min Intensity: 28
       Name: LaserScan
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.0300000012
+      Size (m): 0.05000000074505806
       Style: Flat Squares
       Topic: /robot3/scan
       Unreliable: false
@@ -316,7 +400,7 @@ Visualization Manager:
       Transport Hint: compressed
       Unreliable: false
       Value: false
-    - Alpha: 0.699999988
+    - Alpha: 0.699999988079071
       Class: rviz/Map
       Color Scheme: map
       Draw Behind: false
@@ -331,11 +415,11 @@ Visualization Manager:
       Class: rviz/Path
       Color: 0; 0; 0
       Enabled: true
-      Head Diameter: 0.300000012
-      Head Length: 0.200000003
-      Length: 0.300000012
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
       Line Style: Lines
-      Line Width: 0.0299999993
+      Line Width: 0.029999999329447746
       Name: Planner Plan
       Offset:
         X: 0
@@ -343,9 +427,10 @@ Visualization Manager:
         Z: 0
       Pose Color: 255; 85; 255
       Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.100000001
-      Shaft Length: 0.100000001
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
       Topic: /move_base/NavfnROS/plan
       Unreliable: false
       Value: true
@@ -354,11 +439,11 @@ Visualization Manager:
       Class: rviz/Path
       Color: 0; 0; 0
       Enabled: true
-      Head Diameter: 0.300000012
-      Head Length: 0.200000003
-      Length: 0.300000012
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
       Line Style: Lines
-      Line Width: 0.0299999993
+      Line Width: 0.029999999329447746
       Name: Planner Plan
       Offset:
         X: 0
@@ -366,9 +451,10 @@ Visualization Manager:
         Z: 0
       Pose Color: 255; 85; 255
       Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.100000001
-      Shaft Length: 0.100000001
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
       Topic: /move_base2/NavfnROS/plan
       Unreliable: false
       Value: true
@@ -377,11 +463,11 @@ Visualization Manager:
       Class: rviz/Path
       Color: 0; 0; 0
       Enabled: true
-      Head Diameter: 0.300000012
-      Head Length: 0.200000003
-      Length: 0.300000012
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
       Line Style: Lines
-      Line Width: 0.0299999993
+      Line Width: 0.029999999329447746
       Name: Planner Plan
       Offset:
         X: 0
@@ -389,15 +475,16 @@ Visualization Manager:
         Z: 0
       Pose Color: 255; 85; 255
       Pose Style: None
-      Radius: 0.0299999993
-      Shaft Diameter: 0.100000001
-      Shaft Length: 0.100000001
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
       Topic: /move_base3/NavfnROS/plan
       Unreliable: false
       Value: true
     - Class: rviz/Group
       Displays:
-        - Alpha: 0.699999988
+        - Alpha: 0.699999988079071
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: true
@@ -407,7 +494,7 @@ Visualization Manager:
           Unreliable: false
           Use Timestamp: false
           Value: true
-        - Alpha: 0.699999988
+        - Alpha: 0.699999988079071
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: true
@@ -417,7 +504,7 @@ Visualization Manager:
           Unreliable: false
           Use Timestamp: false
           Value: true
-        - Alpha: 0.699999988
+        - Alpha: 0.699999988079071
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: true
@@ -432,11 +519,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 0; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: Planner
           Offset:
             X: 0
@@ -444,9 +531,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /move_base/DWAPlannerROS/global_plan
           Unreliable: false
           Value: true
@@ -455,11 +543,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 0; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: Planner
           Offset:
             X: 0
@@ -467,9 +555,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /move_base2/DWAPlannerROS/global_plan
           Unreliable: false
           Value: true
@@ -478,11 +567,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 0; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: Planner
           Offset:
             X: 0
@@ -490,9 +579,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /move_base3/DWAPlannerROS/global_plan
           Unreliable: false
           Value: true
@@ -505,6 +595,7 @@ Visualization Manager:
           Color: 0; 0; 0
           Enabled: true
           Name: Polygon
+          Queue Size: 10
           Topic: /robot1/move_base/local_costmap/footprint
           Unreliable: false
           Value: true
@@ -513,6 +604,7 @@ Visualization Manager:
           Color: 0; 0; 0
           Enabled: true
           Name: Polygon
+          Queue Size: 10
           Topic: /move_base2/local_costmap/footprint
           Unreliable: false
           Value: true
@@ -521,10 +613,11 @@ Visualization Manager:
           Color: 0; 0; 0
           Enabled: true
           Name: Polygon
+          Queue Size: 10
           Topic: /move_base3/local_costmap/footprint
           Unreliable: false
           Value: true
-        - Alpha: 0.699999988
+        - Alpha: 0.699999988079071
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: false
@@ -534,7 +627,7 @@ Visualization Manager:
           Unreliable: false
           Use Timestamp: false
           Value: true
-        - Alpha: 0.699999988
+        - Alpha: 0.699999988079071
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: false
@@ -544,7 +637,7 @@ Visualization Manager:
           Unreliable: false
           Use Timestamp: false
           Value: true
-        - Alpha: 0.699999988
+        - Alpha: 0.699999988079071
           Class: rviz/Map
           Color Scheme: costmap
           Draw Behind: false
@@ -559,11 +652,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 255; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: Planner
           Offset:
             X: 0
@@ -571,9 +664,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /move_base/DWAPlannerROS/local_plan
           Unreliable: false
           Value: true
@@ -582,11 +676,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 255; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: Planner
           Offset:
             X: 0
@@ -594,9 +688,10 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /move_base2/DWAPlannerROS/local_plan
           Unreliable: false
           Value: true
@@ -605,11 +700,11 @@ Visualization Manager:
           Class: rviz/Path
           Color: 255; 255; 0
           Enabled: true
-          Head Diameter: 0.300000012
-          Head Length: 0.200000003
-          Length: 0.300000012
+          Head Diameter: 0.30000001192092896
+          Head Length: 0.20000000298023224
+          Length: 0.30000001192092896
           Line Style: Lines
-          Line Width: 0.0299999993
+          Line Width: 0.029999999329447746
           Name: Planner
           Offset:
             X: 0
@@ -617,103 +712,110 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 85; 255
           Pose Style: None
-          Radius: 0.0299999993
-          Shaft Diameter: 0.100000001
-          Shaft Length: 0.100000001
+          Queue Size: 10
+          Radius: 0.029999999329447746
+          Shaft Diameter: 0.10000000149011612
+          Shaft Length: 0.10000000149011612
           Topic: /move_base3/DWAPlannerROS/local_plan
           Unreliable: false
           Value: true
       Enabled: true
       Name: Local Map
     - Alpha: 1
-      Arrow Length: 0.0500000007
-      Axes Length: 0.300000012
-      Axes Radius: 0.00999999978
+      Arrow Length: 0.05000000074505806
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
       Class: rviz/PoseArray
-      Color: 0; 192; 0
+      Color: 239; 41; 41
       Enabled: true
-      Head Length: 0.0700000003
-      Head Radius: 0.0299999993
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
       Name: Amcl Particles
-      Shaft Length: 0.230000004
-      Shaft Radius: 0.00999999978
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
       Shape: Arrow (Flat)
       Topic: /robot1/particlecloud
       Unreliable: false
       Value: true
     - Alpha: 1
-      Arrow Length: 0.0500000007
-      Axes Length: 0.300000012
-      Axes Radius: 0.00999999978
+      Arrow Length: 0.05000000074505806
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
       Class: rviz/PoseArray
       Color: 0; 192; 0
       Enabled: true
-      Head Length: 0.0700000003
-      Head Radius: 0.0299999993
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
       Name: Amcl Particles
-      Shaft Length: 0.230000004
-      Shaft Radius: 0.00999999978
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
       Shape: Arrow (Flat)
       Topic: /robot2/particlecloud
       Unreliable: false
       Value: true
     - Alpha: 1
-      Arrow Length: 0.0500000007
-      Axes Length: 0.300000012
-      Axes Radius: 0.00999999978
+      Arrow Length: 0.05000000074505806
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
       Class: rviz/PoseArray
-      Color: 0; 192; 0
+      Color: 32; 74; 135
       Enabled: true
-      Head Length: 0.0700000003
-      Head Radius: 0.0299999993
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
       Name: Amcl Particles
-      Shaft Length: 0.230000004
-      Shaft Radius: 0.00999999978
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
       Shape: Arrow (Flat)
       Topic: /robot3/particlecloud
       Unreliable: false
       Value: true
     - Alpha: 1
       Axes Length: 1
-      Axes Radius: 0.100000001
+      Axes Radius: 0.10000000149011612
       Class: rviz/Pose
       Color: 255; 25; 0
       Enabled: true
-      Head Length: 0.300000012
-      Head Radius: 0.100000001
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
       Name: Goal
+      Queue Size: 10
       Shaft Length: 0.5
-      Shaft Radius: 0.0500000007
+      Shaft Radius: 0.05000000074505806
       Shape: Arrow
       Topic: /robot1/move_base/current_goal
       Unreliable: false
       Value: true
     - Alpha: 1
       Axes Length: 1
-      Axes Radius: 0.100000001
+      Axes Radius: 0.10000000149011612
       Class: rviz/Pose
       Color: 255; 25; 0
       Enabled: true
-      Head Length: 0.300000012
-      Head Radius: 0.100000001
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
       Name: Goal
+      Queue Size: 10
       Shaft Length: 0.5
-      Shaft Radius: 0.0500000007
+      Shaft Radius: 0.05000000074505806
       Shape: Arrow
       Topic: /move_base2/current_goal
       Unreliable: false
       Value: true
     - Alpha: 1
       Axes Length: 1
-      Axes Radius: 0.100000001
+      Axes Radius: 0.10000000149011612
       Class: rviz/Pose
       Color: 255; 25; 0
       Enabled: true
-      Head Length: 0.300000012
-      Head Radius: 0.100000001
+      Head Length: 0.30000001192092896
+      Head Radius: 0.10000000149011612
       Name: Goal
+      Queue Size: 10
       Shaft Length: 0.5
-      Shaft Radius: 0.0500000007
+      Shaft Radius: 0.05000000074505806
       Shape: Arrow
       Topic: /move_base3/current_goal
       Unreliable: false
@@ -731,38 +833,40 @@ Visualization Manager:
       Hide Inactive Objects: true
     - Class: rviz/Select
     - Class: rviz/SetInitialPose
-      Topic: /initialpose
+      Theta std deviation: 0.2617993950843811
+      Topic: robot2/initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
+      Topic: robot2/move_base_simple/goal
     - Class: rviz/Measure
   Value: true
   Views:
     Current:
-      Angle: -1.57079637
+      Angle: -1.5707963705062866
       Class: rviz/TopDownOrtho
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Scale: 85.252594
+      Near Clip Distance: 0.009999999776482582
+      Scale: 100.54505920410156
       Target Frame: <Fixed Frame>
-      Value: TopDownOrtho (rviz)
       X: 0
       Y: 0
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1056
+  Height: 1368
   Hide Left Dock: false
   Hide Right Dock: true
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000003dafc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003da000000d700fffffffb0000000a0049006d0061006700650000000317000000cc0000001600fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005c7000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002bd000004edfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007300fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004900000374000000fb00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000003c4000001720000007300fffffffb0000000a0049006d0061006700650000000317000000cc0000001a00fffffffb0000000a0049006d0061006700650000000330000000ce0000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000c900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000004fd00fffffffb0000000800540069006d00650100000000000004500000000000000000000006f4000004ed00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -771,6 +875,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1847
-  X: 73
-  Y: 24
+  Width: 2488
+  X: 72
+  Y: 35
diff --git a/multi_turtlebots_nav/launch/amcl_robot3.launch b/multi_turtlebots_nav/launch/amcl_robot3.launch
index e1cf920..72de76f 100644
--- a/multi_turtlebots_nav/launch/amcl_robot3.launch
+++ b/multi_turtlebots_nav/launch/amcl_robot3.launch
@@ -2,12 +2,13 @@
 
   <arg name="use_map_topic"   default="false"/>
   <arg name="scan_topic"      default="/robot3/scan"/>
-  <arg name="initial_pose_x"  default="1.0"/>
-  <arg name="initial_pose_y"  default="-6.0"/>
+  <arg name="initial_pose_x"  default="-0.5"/>
+  <arg name="initial_pose_y"  default="-2.5"/>
   <arg name="initial_pose_a"  default="0.0"/>
   <arg name="odom_frame_id"   default="robot3_tf/odom"/>
   <arg name="base_frame_id"   default="robot3_tf/base_footprint"/>
   <arg name="global_frame_id" default="map"/>
+  
 
   <node pkg="amcl" type="amcl" name="robot3_amcl">
     <param name="use_map_topic"             value="$(arg use_map_topic)"/>
@@ -55,4 +56,4 @@
 
   </node>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/multi_turtlebots_nav/launch/move_base_1.launch b/multi_turtlebots_nav/launch/move_base_1.launch
index 82d1c31..06a2247 100644
--- a/multi_turtlebots_nav/launch/move_base_1.launch
+++ b/multi_turtlebots_nav/launch/move_base_1.launch
@@ -10,7 +10,7 @@
 
   <arg name="odom_frame_id"   default="robot1_tf/odom"/>
   <arg name="base_frame_id"   default="robot1_tf/base_footprint"/>
-  <arg name="global_frame_id" default="/map"/>
+  <arg name="global_frame_id" default="map"/>
   <arg name="odom_topic" default="/robot1/odom" />
   <arg name="laser_topic" default="/robot1/laser/scan" />
   <arg name="move_forward_only" default="false"/>
diff --git a/multi_turtlebots_nav/launch/move_base_2.launch b/multi_turtlebots_nav/launch/move_base_2.launch
index c261deb..3f46565 100644
--- a/multi_turtlebots_nav/launch/move_base_2.launch
+++ b/multi_turtlebots_nav/launch/move_base_2.launch
@@ -10,7 +10,7 @@
 
   <arg name="odom_frame_id"   default="robot2_tf/odom"/>
   <arg name="base_frame_id"   default="robot2_tf/base_footprint"/>
-  <arg name="global_frame_id" default="/map"/>
+  <arg name="global_frame_id" default="map"/>
   <arg name="odom_topic" default="/robot2/odom" />
   <arg name="laser_topic" default="/robot2/laser/scan" />
   <arg name="move_forward_only" default="false"/>
diff --git a/multi_turtlebots_nav/launch/move_base_3.launch b/multi_turtlebots_nav/launch/move_base_3.launch
index f154c71..71f4346 100644
--- a/multi_turtlebots_nav/launch/move_base_3.launch
+++ b/multi_turtlebots_nav/launch/move_base_3.launch
@@ -10,7 +10,7 @@
 
   <arg name="odom_frame_id"   default="robot3_tf/odom"/>
   <arg name="base_frame_id"   default="robot3_tf/base_footprint"/>
-  <arg name="global_frame_id" default="/map"/>
+  <arg name="global_frame_id" default="map"/>
   <arg name="odom_topic" default="/robot3/odom" />
   <arg name="laser_topic" default="/robot3/laser/scan" />
   <arg name="move_forward_only" default="false"/>
diff --git a/multi_turtlebots_nav/launch/navigation.launch b/multi_turtlebots_nav/launch/navigation.launch
index ea0539a..4ce2f6a 100644
--- a/multi_turtlebots_nav/launch/navigation.launch
+++ b/multi_turtlebots_nav/launch/navigation.launch
@@ -2,13 +2,14 @@
   <!--<param name="/use_sim_time" value="true"/>-->
 
   <!-- Run the map server -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find map_launcher)/map/map.yaml" >
-    <param name="frame_id" value="/map" />
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find map_launcher)/map/map_tb3_10.yaml" >
+    <param name="frame_id" value="map" />
   </node>
-<!--
+  
+  <!--
 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster1" args="3 1 0 0 0 0 1 map robot1/base_footprint 100" />
 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster2" args="-4 1 0 0 0 0 1 map robot2/base_footprint 100" />
-<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster3" args="1 -6 0 0 0 0 1 map robot3/base_footprint 100" />
+<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster3" args="-0.5 -2.5 0 0 0 0 1 map robot3/base_footprint 100" />
 -->
 
  <!-- Properties of each robot      -->
@@ -29,4 +30,4 @@
 
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find map_launcher)/rviz/turtlebot3_navigation.rviz" />
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/multi_turtlebots_sim/launch/main.launch b/multi_turtlebots_sim/launch/main.launch
index 4db54fa..2960eb6 100644
--- a/multi_turtlebots_sim/launch/main.launch
+++ b/multi_turtlebots_sim/launch/main.launch
@@ -3,8 +3,8 @@
 
   <!-- start world -->
   <node name="gazebo" pkg="gazebo_ros" type="gazebo"
-   args="$(find multi_turtlebots_sim)/turtlebot3_description/world/turtlebot3_house.world" respawn="false" output="screen" />
+   args="$(find multi_turtlebots_sim)/turtlebot3_description/world/tb3_10.world" respawn="false" output="screen" />
 
   <!-- include our robots -->
   <include file="$(find multi_turtlebots_sim)/launch/robots.launch"/>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/multi_turtlebots_sim/launch/one_robot.launch b/multi_turtlebots_sim/launch/one_robot.launch
index 6a282d7..66b5eae 100644
--- a/multi_turtlebots_sim/launch/one_robot.launch
+++ b/multi_turtlebots_sim/launch/one_robot.launch
@@ -9,4 +9,7 @@
     <node pkg="robot_state_publisher" type="robot_state_publisher"
           name="robot_state_publisher" output="screen"/>
     <!--<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />-->
-</launch>
\ No newline at end of file
+</launch>
+
+
+
diff --git a/multi_turtlebots_sim/launch/robots.launch b/multi_turtlebots_sim/launch/robots.launch
index cbccac2..5c20f9b 100644
--- a/multi_turtlebots_sim/launch/robots.launch
+++ b/multi_turtlebots_sim/launch/robots.launch
@@ -28,9 +28,9 @@
   <group ns="robot3">
     <param name="tf_prefix" value="robot3_tf" />
     <include file="$(find multi_turtlebots_sim)/launch/one_robot.launch" >
-      <arg name="init_pose" value="-x 1 -y -6 -z 0" />
+      <arg name="init_pose" value="-x -0.5 -y -2.5 -z 0" />
       <arg name="robot_name"  value="Robot3" />
     </include>
   </group>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/multi_turtlebots_sim/turtlebot3_description/world/tb3_10.world b/multi_turtlebots_sim/turtlebot3_description/world/tb3_10.world
new file mode 100644
index 0000000..1f98094
--- /dev/null
+++ b/multi_turtlebots_sim/turtlebot3_description/world/tb3_10.world
@@ -0,0 +1,550 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>100 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/White</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>2000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='Walls_10'>
+      <link name='Wall_11'>
+        <pose>0 5.175 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <inertial>
+          <mass>1</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='Wall_11_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>10 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='Wall_11_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>10 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <link name='Wall_13'>
+        <pose>4.925 0 0 0 0 -1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <inertial>
+          <mass>1</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='Wall_13_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>10.5 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='Wall_13_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>10.5 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <link name='Wall_14'>
+        <pose>0 -5.175 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <inertial>
+          <mass>1</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='Wall_14_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>10 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='Wall_14_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>10 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <link name='Wall_15'>
+        <pose>-4.925 0 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+        <inertial>
+          <mass>1</mass>
+          <pose>0 0 0 0 -0 0</pose>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+        </inertial>
+        <visual name='Wall_15_Visual'>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>10.5 0.15 1</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+            <shader type='pixel'>
+              <normal_map>__default__</normal_map>
+            </shader>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+          <transparency>0</transparency>
+          <cast_shadows>1</cast_shadows>
+        </visual>
+        <collision name='Wall_15_Collision'>
+          <laser_retro>0</laser_retro>
+          <max_contacts>10</max_contacts>
+          <pose>0 0 0.5 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>10.5 0.15 1</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <fdir1>0 0 0</fdir1>
+                <slip1>0</slip1>
+                <slip2>0</slip2>
+              </ode>
+              <torsional>
+                <coefficient>1</coefficient>
+                <patch_radius>0</patch_radius>
+                <surface_radius>0</surface_radius>
+                <use_patch_radius>1</use_patch_radius>
+                <ode>
+                  <slip>0</slip>
+                </ode>
+              </torsional>
+            </friction>
+            <bounce>
+              <restitution_coefficient>0</restitution_coefficient>
+              <threshold>1e+06</threshold>
+            </bounce>
+            <contact>
+              <collide_without_contact>0</collide_without_contact>
+              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+              <collide_bitmask>1</collide_bitmask>
+              <ode>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+                <max_vel>0.01</max_vel>
+                <min_depth>0</min_depth>
+              </ode>
+              <bullet>
+                <split_impulse>1</split_impulse>
+                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+                <soft_cfm>0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <kp>1e+13</kp>
+                <kd>1</kd>
+              </bullet>
+            </contact>
+          </surface>
+        </collision>
+      </link>
+      <static>1</static>
+      <allow_auto_disable>1</allow_auto_disable>
+      <pose>0 0.012686 0 0 -0 0</pose>
+    </model>
+    <state world_name='default'>
+      <sim_time>199 520000000</sim_time>
+      <real_time>200 446905194</real_time>
+      <wall_time>1667378058 802805498</wall_time>
+      <iterations>199520</iterations>
+      <model name='Walls_10'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='Wall_11'>
+          <pose>0 5.175 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_13'>
+          <pose>4.925 0 0 0 0 -1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_14'>
+          <pose>0 -5.175 0 0 -0 3.14159</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+        <link name='Wall_15'>
+          <pose>-4.925 0 0 0 -0 1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>100 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>0 0 21 3.14159 1.57079 3.14159</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/thumbnail.png b/thumbnail.png
deleted file mode 100644
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