diff --git a/nav2_costmap_filters_demo/launch/costmap_filter_info.launch.py b/nav2_costmap_filters_demo/launch/costmap_filter_info.launch.py
index 4a24082..0578879 100644
--- a/nav2_costmap_filters_demo/launch/costmap_filter_info.launch.py
+++ b/nav2_costmap_filters_demo/launch/costmap_filter_info.launch.py
@@ -22,7 +22,7 @@
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch.substitutions import NotEqualsSubstitution
+# from launch.substitutions import NotEqualsSubstitution
 from launch_ros.actions import Node, LoadComposableNodes
 from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ComposableNode
@@ -123,7 +123,10 @@ def generate_launch_description():
         condition=IfCondition(use_composition),
         actions=[
             PushRosNamespace(
-                condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('namespace'), '')),
+                # condition=IfCondition(NotEqualsSubstitution(LaunchConfiguration('namespace'), '')),
+                condition=IfCondition(PythonExpression(["'",
+                                                        LaunchConfiguration('namespace'),
+                                                        "' != ''",])),
                 namespace=namespace),
             LoadComposableNodes(
                 target_container=container_name_full,
diff --git a/nav2_gps_waypoint_follower_demo/config/demo_waypoints.yaml b/nav2_gps_waypoint_follower_demo/config/demo_waypoints.yaml
deleted file mode 100644
index 367eb37..0000000
--- a/nav2_gps_waypoint_follower_demo/config/demo_waypoints.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-waypoints:
-- latitude: 38.161491054181276
-  longitude: -122.45464431092836
-  yaw: 0.0
-- latitude: 38.161587576524845
-  longitude: -122.4547994038464
-  yaw: 1.57
-- latitude: 38.161708040316405
-  longitude: -122.45499603070951
-  yaw: 3.14
-- latitude: 38.16180165780551
-  longitude: -122.45515645020123
-  yaw: 4.71
diff --git a/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml b/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml
deleted file mode 100644
index 5358f15..0000000
--- a/nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml
+++ /dev/null
@@ -1,127 +0,0 @@
-# For parameter descriptions, please refer to the template parameter files for each node.
-
-ekf_filter_node_odom:
-  ros__parameters:
-    frequency: 30.0
-    two_d_mode: true # Recommended to use 2d mode for nav2 in mostly planar environments
-    print_diagnostics: true
-    debug: false
-    publish_tf: true
-
-    map_frame: map
-    odom_frame: odom
-    base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
-    world_frame: odom
-
-    odom0: odom
-    odom0_config: [false, false, false,
-                  false, false, false,
-                  true,  true,  true,
-                  false, false, true,
-                  false, false, false]
-    odom0_queue_size: 10
-    odom0_differential: false
-    odom0_relative: false
-
-    imu0: imu
-    imu0_config: [false, false, false,
-                  false,  false,  true,
-                  false, false, false,
-                  false,  false,  false,
-                  false,  false,  false]
-    imu0_differential: false  # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
-    imu0_relative: false
-    imu0_queue_size: 10
-    imu0_remove_gravitational_acceleration: true
-
-    use_control: false
-
-    process_noise_covariance: [1e-3, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    1e-3,  0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    1e-3,  0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.3,   0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.3,   0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.01,  0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.5,    0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.5,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.1,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.3,   0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.3,   0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.3,   0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.3,   0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.3,   0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.3]
-
-ekf_filter_node_map:
-  ros__parameters:
-    frequency: 30.0
-    two_d_mode: true  # Recommended to use 2d mode for nav2 in mostly planar environments
-    print_diagnostics: true
-    debug: false
-    publish_tf: true
-
-    map_frame: map
-    odom_frame: odom
-    base_link_frame: base_footprint # the frame id used by the turtlebot's diff drive plugin
-    world_frame: map
-
-    odom0: odom
-    odom0_config: [false, false, false,
-                  false, false, false,
-                  true,  true,  true,
-                  false, false, true,
-                  false, false, false]
-    odom0_queue_size: 10
-    odom0_differential: false
-    odom0_relative: false
-
-    odom1: odometry/gps
-    odom1_config: [true,  true,  false,
-                  false, false, false,
-                  false, false, false,
-                  false, false, false,
-                  false, false, false]
-    odom1_queue_size: 10
-    odom1_differential: false
-    odom1_relative: false
-
-    imu0: imu
-    imu0_config: [false, false, false,
-                  false,  false,  true,
-                  false, false, false,
-                  false,  false,  false,
-                  false,  false,  false]
-    imu0_differential: false  # If using a real robot you might want to set this to true, since usually absolute measurements from real imu's are not very accurate
-    imu0_relative: false
-    imu0_queue_size: 10
-    imu0_remove_gravitational_acceleration: true
-
-    use_control: false
-
-    process_noise_covariance: [1.0,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    1.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    1e-3,   0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.3,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.3,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.01,   0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.5,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.5,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.1,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.3,    0.0,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.3,    0.0,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.3,    0.0,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.3,    0.0,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.3,    0.0,
-                              0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.3]
-
-navsat_transform:
-  ros__parameters:
-    frequency: 30.0
-    delay: 3.0
-    magnetic_declination_radians: 0.0
-    yaw_offset: 0.0
-    zero_altitude: true
-    broadcast_utm_transform: true
-    publish_filtered_gps: true
-    use_odometry_yaw: true
-    wait_for_datum: false 
diff --git a/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc b/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc
deleted file mode 100644
index bb578c7..0000000
--- a/nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc
+++ /dev/null
@@ -1,56 +0,0 @@
-capture_directory: "~"
-fixed_frame: map
-target_frame: map
-fix_orientation: false
-rotate_90: false
-enable_antialiasing: true
-show_displays: true
-show_status_bar: true
-show_capture_tools: true
-window_width: 1920
-window_height: 1016
-view_scale: 0.564473748
-offset_x: -55.0469894
-offset_y: -4.65194941
-use_latest_transforms: true
-background: "#a0a0a4"
-image_transport: raw
-displays:
-  - type: mapviz_plugins/tile_map
-    name: new display
-    config:
-      visible: true
-      collapsed: false
-      custom_sources:
-        []
-      bing_api_key: ""
-      source: Bing Maps (terrain)
-  - type: mapviz_plugins/point_click_publisher
-    name: new display
-    config:
-      visible: true
-      collapsed: false
-      topic: clicked_point
-      output_frame: wgs84
-  - type: mapviz_plugins/tf_frame
-    name: new display
-    config:
-      visible: true
-      collapsed: false
-      frame: base_link
-      color: "#00ff00"
-      draw_style: arrows
-      position_tolerance: 0
-      buffer_size: 1
-      static_arrow_sizes: true
-      arrow_size: 53
-  - type: mapviz_plugins/navsat
-    name: new display
-    config:
-      visible: true
-      collapsed: false
-      topic: /gps/fix
-      color: "#55aaff"
-      draw_style: points
-      position_tolerance: 0
-      buffer_size: 1
\ No newline at end of file
diff --git a/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml b/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml
deleted file mode 100644
index 31fad8f..0000000
--- a/nav2_gps_waypoint_follower_demo/config/nav2_no_map_params.yaml
+++ /dev/null
@@ -1,315 +0,0 @@
-# GPS WPF CHANGES: 
-# - amcl params where removed. They are not needed because global localization is provided
-#   by an ekf node on robot_localization fusing gps data with local odometry sources
-# - static layer is removed from both costmaps, in this tutorial we assume there is no map
-#   of the environment
-# - global costmap is set to be rolling to allow the robot to traverse big environment by
-#   following successive relatively close waypoints that fit in a smaller rolling costmap
-
-bt_navigator:
-  ros__parameters:
-    global_frame: map
-    robot_base_frame: base_link
-    odom_topic: /odom
-    bt_loop_duration: 10
-    default_server_timeout: 20
-    navigators: ["navigate_to_pose", "navigate_through_poses"]
-    navigate_to_pose:
-      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
-    navigate_through_poses:
-      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
-    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
-    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
-    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
-    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
-    plugin_lib_names:
-      - nav2_compute_path_to_pose_action_bt_node
-      - nav2_compute_path_through_poses_action_bt_node
-      - nav2_smooth_path_action_bt_node
-      - nav2_follow_path_action_bt_node
-      - nav2_spin_action_bt_node
-      - nav2_wait_action_bt_node
-      - nav2_assisted_teleop_action_bt_node
-      - nav2_back_up_action_bt_node
-      - nav2_drive_on_heading_bt_node
-      - nav2_clear_costmap_service_bt_node
-      - nav2_is_stuck_condition_bt_node
-      - nav2_goal_reached_condition_bt_node
-      - nav2_goal_updated_condition_bt_node
-      - nav2_globally_updated_goal_condition_bt_node
-      - nav2_is_path_valid_condition_bt_node
-      - nav2_are_error_codes_active_condition_bt_node
-      - nav2_would_a_controller_recovery_help_condition_bt_node
-      - nav2_would_a_planner_recovery_help_condition_bt_node
-      - nav2_would_a_smoother_recovery_help_condition_bt_node
-      - nav2_initial_pose_received_condition_bt_node
-      - nav2_reinitialize_global_localization_service_bt_node
-      - nav2_rate_controller_bt_node
-      - nav2_distance_controller_bt_node
-      - nav2_speed_controller_bt_node
-      - nav2_truncate_path_action_bt_node
-      - nav2_truncate_path_local_action_bt_node
-      - nav2_goal_updater_node_bt_node
-      - nav2_recovery_node_bt_node
-      - nav2_pipeline_sequence_bt_node
-      - nav2_round_robin_node_bt_node
-      - nav2_transform_available_condition_bt_node
-      - nav2_time_expired_condition_bt_node
-      - nav2_path_expiring_timer_condition
-      - nav2_distance_traveled_condition_bt_node
-      - nav2_single_trigger_bt_node
-      - nav2_goal_updated_controller_bt_node
-      - nav2_is_battery_low_condition_bt_node
-      - nav2_navigate_through_poses_action_bt_node
-      - nav2_navigate_to_pose_action_bt_node
-      - nav2_remove_passed_goals_action_bt_node
-      - nav2_planner_selector_bt_node
-      - nav2_controller_selector_bt_node
-      - nav2_goal_checker_selector_bt_node
-      - nav2_controller_cancel_bt_node
-      - nav2_path_longer_on_approach_bt_node
-      - nav2_wait_cancel_bt_node
-      - nav2_spin_cancel_bt_node
-      - nav2_back_up_cancel_bt_node
-      - nav2_assisted_teleop_cancel_bt_node
-      - nav2_drive_on_heading_cancel_bt_node
-      - nav2_is_battery_charging_condition_bt_node
-    error_code_names:
-      - compute_path_error_code
-      - follow_path_error_code
-
-controller_server:
-  ros__parameters:
-    controller_frequency: 20.0
-    min_x_velocity_threshold: 0.001
-    min_y_velocity_threshold: 0.5
-    min_theta_velocity_threshold: 0.001
-    failure_tolerance: 0.3
-    progress_checker_plugins: ["progress_checker"]
-    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
-    controller_plugins: ["FollowPath"]
-
-    # Progress checker parameters
-    progress_checker:
-      plugin: "nav2_controller::SimpleProgressChecker"
-      required_movement_radius: 0.5
-      movement_time_allowance: 10.0
-    # Goal checker parameters
-    #precise_goal_checker:
-    #  plugin: "nav2_controller::SimpleGoalChecker"
-    #  xy_goal_tolerance: 0.25
-    #  yaw_goal_tolerance: 0.25
-    #  stateful: True
-    general_goal_checker:
-      stateful: True
-      plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.25
-      yaw_goal_tolerance: 0.25
-    # DWB parameters
-    FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
-      debug_trajectory_details: True
-      min_vel_x: 0.0
-      min_vel_y: 0.0
-      max_vel_x: 0.26
-      max_vel_y: 0.0
-      max_vel_theta: 1.0
-      min_speed_xy: 0.0
-      max_speed_xy: 0.26
-      min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
-      acc_lim_x: 2.5
-      acc_lim_y: 0.0
-      acc_lim_theta: 3.2
-      decel_lim_x: -2.5
-      decel_lim_y: 0.0
-      decel_lim_theta: -3.2
-      vx_samples: 20
-      vy_samples: 5
-      vtheta_samples: 20
-      sim_time: 1.7
-      linear_granularity: 0.05
-      angular_granularity: 0.025
-      transform_tolerance: 0.2
-      xy_goal_tolerance: 0.25
-      trans_stopped_velocity: 0.25
-      short_circuit_trajectory_evaluation: True
-      stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-      BaseObstacle.scale: 0.02
-      PathAlign.scale: 32.0
-      PathAlign.forward_point_distance: 0.1
-      GoalAlign.scale: 24.0
-      GoalAlign.forward_point_distance: 0.1
-      PathDist.scale: 32.0
-      GoalDist.scale: 24.0
-      RotateToGoal.scale: 32.0
-      RotateToGoal.slowing_factor: 5.0
-      RotateToGoal.lookahead_time: -1.0
-
-# GPS WPF CHANGE: Remove static layer
-local_costmap:
-  local_costmap:
-    ros__parameters:
-      update_frequency: 5.0
-      publish_frequency: 2.0
-      global_frame: odom
-      robot_base_frame: base_link
-      rolling_window: true
-      width: 3
-      height: 3
-      resolution: 0.05
-      robot_radius: 0.22
-      plugins: ["voxel_layer", "inflation_layer"]
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
-        enabled: True
-        publish_voxel_map: True
-        origin_z: 0.0
-        z_resolution: 0.05
-        z_voxels: 16
-        max_obstacle_height: 2.0
-        mark_threshold: 0
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      always_send_full_costmap: True
-
-# GPS WPF CHANGE: Remove static layer
-# GPS WPF CHANGE: Set rolling global costmap with 50x50 size. See note below
-global_costmap:
-  global_costmap:
-    ros__parameters:
-      update_frequency: 1.0
-      publish_frequency: 1.0
-      global_frame: map
-      robot_base_frame: base_link
-      robot_radius: 0.22
-      resolution: 0.1
-      # When using GPS navigation you will potentially traverse huge environments which are not practical to
-      # fit on a big static costmap. Thus it is recommended to use a rolling global costmap large enough to 
-      # contain each pair of successive waypoints. See: https://github.com/ros-planning/navigation2/issues/2174
-      rolling_window: True
-      width: 50
-      height: 50
-      track_unknown_space: true
-      # no static map
-      plugins: ["obstacle_layer", "inflation_layer"]
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
-        enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-          # outdoors there will probably be more inf points
-          inf_is_valid: true
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
-      always_send_full_costmap: True
-
-# The yaml_filename does not need to be specified since it going to be set by defaults in launch.
-# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py
-# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used.
-# map_server:
-#   ros__parameters:
-#     yaml_filename: ""
-
-map_saver:
-  ros__parameters:
-    save_map_timeout: 5.0
-    free_thresh_default: 0.25
-    occupied_thresh_default: 0.65
-    map_subscribe_transient_local: True
-
-planner_server:
-  ros__parameters:
-    expected_planner_frequency: 20.0
-    planner_plugins: ["GridBased"]
-    GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
-      tolerance: 0.5
-      use_astar: false
-      allow_unknown: true
-
-smoother_server:
-  ros__parameters:
-    smoother_plugins: ["simple_smoother"]
-    simple_smoother:
-      plugin: "nav2_smoother::SimpleSmoother"
-      tolerance: 1.0e-10
-      max_its: 1000
-      do_refinement: True
-
-behavior_server:
-  ros__parameters:
-    local_costmap_topic: local_costmap/costmap_raw
-    global_costmap_topic: global_costmap/costmap_raw
-    local_footprint_topic: local_costmap/published_footprint
-    global_footprint_topic: global_costmap/published_footprint
-    cycle_frequency: 10.0
-    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
-    spin:
-      plugin: "nav2_behaviors/Spin"
-    backup:
-      plugin: "nav2_behaviors/BackUp"
-    drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
-    wait:
-      plugin: "nav2_behaviors/Wait"
-    assisted_teleop:
-      plugin: "nav2_behaviors/AssistedTeleop"
-    local_frame: odom
-    global_frame: map
-    robot_base_frame: base_link
-    transform_tolerance: 0.1
-    simulate_ahead_time: 2.0
-    max_rotational_vel: 1.0
-    min_rotational_vel: 0.4
-    rotational_acc_lim: 3.2
-
-waypoint_follower:
-  ros__parameters:
-    loop_rate: 20
-    stop_on_failure: false
-    waypoint_task_executor_plugin: "wait_at_waypoint"
-    wait_at_waypoint:
-      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
-      enabled: True
-      waypoint_pause_duration: 200
-
-velocity_smoother:
-  ros__parameters:
-    smoothing_frequency: 20.0
-    scale_velocities: False
-    feedback: "OPEN_LOOP"
-    max_velocity: [0.26, 0.0, 1.0]
-    min_velocity: [-0.26, 0.0, -1.0]
-    max_accel: [2.5, 0.0, 3.2]
-    max_decel: [-2.5, 0.0, -3.2]
-    odom_topic: "odom"
-    odom_duration: 0.1
-    deadband_velocity: [0.0, 0.0, 0.0]
-    velocity_timeout: 1.0
diff --git a/nav2_gps_waypoint_follower_demo/launch/dual_ekf_navsat.launch.py b/nav2_gps_waypoint_follower_demo/launch/dual_ekf_navsat.launch.py
deleted file mode 100644
index 553985c..0000000
--- a/nav2_gps_waypoint_follower_demo/launch/dual_ekf_navsat.launch.py
+++ /dev/null
@@ -1,68 +0,0 @@
-# Copyright 2018 Open Source Robotics Foundation, Inc.
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from launch import LaunchDescription
-from ament_index_python.packages import get_package_share_directory
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-import launch_ros.actions
-import os
-import launch.actions
-
-
-def generate_launch_description():
-    gps_wpf_dir = get_package_share_directory(
-        "nav2_gps_waypoint_follower_demo")
-    rl_params_file = os.path.join(
-        gps_wpf_dir, "config", "dual_ekf_navsat_params.yaml")
-
-    return LaunchDescription(
-        [
-            launch.actions.DeclareLaunchArgument(
-                "output_final_position", default_value="false"
-            ),
-            launch.actions.DeclareLaunchArgument(
-                "output_location", default_value="~/dual_ekf_navsat_example_debug.txt"
-            ),
-            launch_ros.actions.Node(
-                package="robot_localization",
-                executable="ekf_node",
-                name="ekf_filter_node_odom",
-                output="screen",
-                parameters=[rl_params_file, {"use_sim_time": True}],
-                remappings=[("odometry/filtered", "odometry/local")],
-            ),
-            launch_ros.actions.Node(
-                package="robot_localization",
-                executable="ekf_node",
-                name="ekf_filter_node_map",
-                output="screen",
-                parameters=[rl_params_file, {"use_sim_time": True}],
-                remappings=[("odometry/filtered", "odometry/global")],
-            ),
-            launch_ros.actions.Node(
-                package="robot_localization",
-                executable="navsat_transform_node",
-                name="navsat_transform",
-                output="screen",
-                parameters=[rl_params_file, {"use_sim_time": True}],
-                remappings=[
-                    ("imu/data", "imu/data"),
-                    ("gps/fix", "gps/fix"),
-                    ("gps/filtered", "gps/filtered"),
-                    ("odometry/gps", "odometry/gps"),
-                    ("odometry/filtered", "odometry/global"),
-                ],
-            ),
-        ]
-    )
diff --git a/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py b/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py
deleted file mode 100644
index 4bf4449..0000000
--- a/nav2_gps_waypoint_follower_demo/launch/gazebo_gps_world.launch.py
+++ /dev/null
@@ -1,82 +0,0 @@
-# Copyright (c) 2018 Intel Corporation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import ExecuteProcess, SetEnvironmentVariable
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    # Get the launch directory
-    gps_wpf_dir = get_package_share_directory(
-        "nav2_gps_waypoint_follower_demo")
-    launch_dir = os.path.join(gps_wpf_dir, 'launch')
-    world = os.path.join(gps_wpf_dir, "worlds", "sonoma_raceway.world")
-
-    urdf = os.path.join(gps_wpf_dir, 'urdf', 'turtlebot3_waffle_gps.urdf')
-    with open(urdf, 'r') as infp:
-        robot_description = infp.read()
-
-    models_dir = os.path.join(gps_wpf_dir, "models")
-    models_dir += os.pathsep + \
-        f"/opt/ros/{os.getenv('ROS_DISTRO')}/share/turtlebot3_gazebo/models"
-    set_gazebo_model_path_cmd = None
-
-    if 'GAZEBO_MODEL_PATH' in os.environ:
-        gazebo_model_path = os.environ['GAZEBO_MODEL_PATH'] + \
-            os.pathsep + models_dir
-        set_gazebo_model_path_cmd = SetEnvironmentVariable(
-            "GAZEBO_MODEL_PATH", gazebo_model_path)
-    else:
-        set_gazebo_model_path_cmd = SetEnvironmentVariable(
-            "GAZEBO_MODEL_PATH", models_dir)
-
-    set_tb3_model_cmd = SetEnvironmentVariable("TURTLEBOT3_MODEL", "waffle")
-
-    # Specify the actions
-    start_gazebo_server_cmd = ExecuteProcess(
-        cmd=['gzserver', '-s', 'libgazebo_ros_init.so',
-             '-s', 'libgazebo_ros_factory.so', world],
-        cwd=[launch_dir], output='both')
-
-    start_gazebo_client_cmd = ExecuteProcess(
-        cmd=['gzclient'],
-        cwd=[launch_dir], output='both')
-
-    start_robot_state_publisher_cmd = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        name='robot_state_publisher',
-        output='both',
-        parameters=[{'robot_description': robot_description}])
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Set gazebo up to find models properly
-    ld.add_action(set_gazebo_model_path_cmd)
-    ld.add_action(set_tb3_model_cmd)
-
-    # simulator launch
-    ld.add_action(start_gazebo_server_cmd)
-    ld.add_action(start_gazebo_client_cmd)
-
-    # robot state publisher launch
-    ld.add_action(start_robot_state_publisher_cmd)
-
-    return ld
diff --git a/nav2_gps_waypoint_follower_demo/launch/gps_waypoint_follower.launch.py b/nav2_gps_waypoint_follower_demo/launch/gps_waypoint_follower.launch.py
deleted file mode 100644
index 279fafd..0000000
--- a/nav2_gps_waypoint_follower_demo/launch/gps_waypoint_follower.launch.py
+++ /dev/null
@@ -1,103 +0,0 @@
-# Copyright (c) 2018 Intel Corporation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.substitutions import LaunchConfiguration
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.conditions import IfCondition
-from nav2_common.launch import RewrittenYaml
-
-
-def generate_launch_description():
-    # Get the launch directory
-    bringup_dir = get_package_share_directory('nav2_bringup')
-    gps_wpf_dir = get_package_share_directory(
-        "nav2_gps_waypoint_follower_demo")
-    launch_dir = os.path.join(gps_wpf_dir, 'launch')
-    params_dir = os.path.join(gps_wpf_dir, "config")
-    nav2_params = os.path.join(params_dir, "nav2_no_map_params.yaml")
-    configured_params = RewrittenYaml(
-        source_file=nav2_params, root_key="", param_rewrites="", convert_types=True
-    )
-
-    use_rviz = LaunchConfiguration('use_rviz')
-    use_mapviz = LaunchConfiguration('use_mapviz')
-
-    declare_use_rviz_cmd = DeclareLaunchArgument(
-        'use_rviz',
-        default_value='False',
-        description='Whether to start RVIZ')
-
-    declare_use_mapviz_cmd = DeclareLaunchArgument(
-        'use_mapviz',
-        default_value='False',
-        description='Whether to start mapviz')
-
-    gazebo_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_dir, 'gazebo_gps_world.launch.py'))
-    )
-
-    robot_localization_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_dir, 'dual_ekf_navsat.launch.py'))
-    )
-
-    navigation2_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(bringup_dir, "launch", "navigation_launch.py")
-        ),
-        launch_arguments={
-            "use_sim_time": "True",
-            "params_file": configured_params,
-            "autostart": "True",
-        }.items(),
-    )
-
-    rviz_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(bringup_dir, "launch", 'rviz_launch.py')),
-        condition=IfCondition(use_rviz)
-    )
-
-    mapviz_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_dir, 'mapviz.launch.py')),
-        condition=IfCondition(use_mapviz)
-    )
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # simulator launch
-    ld.add_action(gazebo_cmd)
-
-    # robot localization launch
-    ld.add_action(robot_localization_cmd)
-
-    # navigation2 launch
-    ld.add_action(navigation2_cmd)
-
-    # viz launch
-    ld.add_action(declare_use_rviz_cmd)
-    ld.add_action(rviz_cmd)
-    ld.add_action(declare_use_mapviz_cmd)
-    ld.add_action(mapviz_cmd)
-
-    return ld
diff --git a/nav2_gps_waypoint_follower_demo/launch/mapviz.launch.py b/nav2_gps_waypoint_follower_demo/launch/mapviz.launch.py
deleted file mode 100644
index b8ef693..0000000
--- a/nav2_gps_waypoint_follower_demo/launch/mapviz.launch.py
+++ /dev/null
@@ -1,34 +0,0 @@
-import launch
-import launch.actions
-import launch.substitutions
-import launch_ros.actions
-import os
-from ament_index_python.packages import get_package_share_directory
-
-gps_wpf_dir = get_package_share_directory("nav2_gps_waypoint_follower_demo")
-mapviz_config_file = os.path.join(gps_wpf_dir, "config", "gps_wpf_demo.mvc")
-
-
-def generate_launch_description():
-    return launch.LaunchDescription([
-        launch_ros.actions.Node(
-            package="mapviz",
-            executable="mapviz",
-            name="mapviz",
-            parameters=[{"config": mapviz_config_file}]
-        ),
-        launch_ros.actions.Node(
-            package="swri_transform_util",
-            executable="initialize_origin.py",
-            name="initialize_origin",
-            remappings=[
-                ("fix", "gps/fix"),
-            ],
-        ),
-        launch_ros.actions.Node(
-            package="tf2_ros",
-            executable="static_transform_publisher",
-            name="swri_transform",
-            arguments=["0", "0", "0", "0", "0", "0", "map", "origin"]
-        )
-    ])
diff --git a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config b/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config
deleted file mode 100755
index 6543f64..0000000
--- a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.config
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>turtlebot_waffle_gps</name>
-  <version>2.0</version>
-  <sdf version="1.5">model.sdf</sdf>
-
-  <author>
-    <name>Taehun Lim(Darby)</name>
-    <email>thlim@robotis.com</email>
-
-    <name>Melih Erdogan(mlherd)</name>
-    <email>h.meliherdogan@gmail.com</email>
-  </author>
-
-  <description>
-    TurtleBot3 Waffle with a gps sensor
-  </description>
-</model>
diff --git a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf b/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf
deleted file mode 100755
index 2479342..0000000
--- a/nav2_gps_waypoint_follower_demo/models/turtlebot_waffle_gps/model.sdf
+++ /dev/null
@@ -1,561 +0,0 @@
-<!-- This is the same turtlebot model in nav2 with the following changes -->
-<!-- 1. A GPS sensor is added -->
-<!-- 2. A link for the GPS sensor is added -->
-<!-- 3. The diff drive plugin does not publish the tf between odom->base_footprint, which is done by RL -->
-
-<?xml version="1.0"?>
-<sdf version="1.6">
-    <model name="turtlebot_waffle_gps"> 
-      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
-
-      <link name="base_footprint"/>
-
-      <link name="base_link">
-
-        <inertial>
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-
-        <collision name="base_collision">
-          <pose>-0.064 0 0.048 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.265 0.265 0.089</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <visual name="base_visual">
-          <pose>-0.064 0 0 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/waffle_base.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name="imu_link">
-        <sensor name="tb3_imu" type="imu">
-          <always_on>true</always_on>
-          <update_rate>200</update_rate>
-          <imu>
-            <angular_velocity>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>2e-4</stddev>
-                </noise>
-              </z>
-            </angular_velocity>
-            <linear_acceleration>
-              <x>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </x>
-              <y>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </y>
-              <z>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>1.7e-2</stddev>
-                </noise>
-              </z>
-            </linear_acceleration>
-          </imu>
-          <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
-            <initial_orientation_as_reference>false</initial_orientation_as_reference>
-            <ros>
-              <!-- <namespace>/tb3</namespace> -->
-              <remapping>~/out:=imu</remapping>
-              </ros>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="gps_link">
-      <!-- Some weird bug occurs if this joint gets the default inertia -->
-        <inertial>
-          <pose>-0.052 0 0.111 0 0 0</pose>
-          <inertia>
-            <mass>0.001</mass>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.125</mass>
-        </inertial>
-        <sensor name="tb3_gps" type="gps">
-          <always_on>true</always_on>
-          <update_rate>1</update_rate>
-          <pose>0 0 0 0 0 0</pose>
-          <gps>
-            <position_sensing>
-              <horizontal>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>0.01</stddev>
-                </noise>
-              </horizontal>
-              <vertical>
-                <noise type="gaussian">
-                  <mean>0.0</mean>
-                  <stddev>0.01</stddev>
-                </noise>
-              </vertical>
-            </position_sensing>
-          </gps>
-          <plugin name="my_gps_plugin" filename="libgazebo_ros_gps_sensor.so">
-            <ros>
-              <remapping>~/out:=/gps/fix</remapping>
-            </ros>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="base_scan">
-        <inertial>
-          <pose>-0.064 0 0.121 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.125</mass>
-        </inertial>
-
-        <collision name="lidar_sensor_collision">
-          <pose>-0.052 0 0.111 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.0508</radius>
-              <length>0.055</length>
-            </cylinder>
-          </geometry>
-        </collision>
-
-        <visual name="lidar_sensor_visual">
-          <pose>-0.064 0 0.121 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/lds.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-
-        <sensor name="hls_lfcd_lds" type="ray">
-          <always_on>true</always_on>
-          <visualize>false</visualize>
-          <pose>-0.064 0 0.15 0 0 0</pose>
-          <update_rate>5</update_rate>
-          <ray>
-            <scan>
-              <horizontal>
-                <samples>360</samples>
-                <resolution>1.000000</resolution>
-                <min_angle>0.000000</min_angle>
-                <max_angle>6.280000</max_angle>
-              </horizontal>
-            </scan>
-            <range>
-              <min>0.00000</min>
-              <max>20.0</max>
-              <resolution>0.015000</resolution>
-            </range>
-            <noise>
-              <type>gaussian</type>
-              <mean>0.0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </ray>
-          <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
-            <ros>
-                <!-- <namespace>/tb3</namespace> -->
-                <remapping>~/out:=scan</remapping>
-            </ros>
-            <output_type>sensor_msgs/LaserScan</output_type>
-            <frame_name>base_scan</frame_name>
-          </plugin>
-        </sensor>
-      </link>
-
-      <link name="wheel_left_link">
-
-        <inertial>
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.1</mass>
-        </inertial>
-
-        <collision name="wheel_left_collision">
-          <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.033</radius>
-              <length>0.018</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <!-- This friction pamareter don't contain reliable data!! -->
-            <friction>
-              <ode>
-                <mu>100000.0</mu>
-                <mu2>100000.0</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0.0</slip1>
-                <slip2>0.0</slip2>
-              </ode>
-            </friction>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-
-        <visual name="wheel_left_visual">
-          <pose>0.0 0.144 0.023 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name="wheel_right_link">
-
-        <inertial>
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.1</mass>
-        </inertial>
-      
-        <collision name="wheel_right_collision">
-          <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.033</radius>
-              <length>0.018</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <!-- This friction pamareter don't contain reliable data!! -->
-            <friction>
-              <ode>
-                <mu>100000.0</mu>
-                <mu2>100000.0</mu2>
-                <fdir1>0 0 0</fdir1>
-                <slip1>0.0</slip1>
-                <slip2>0.0</slip2>
-              </ode>
-            </friction>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-
-        <visual name="wheel_right_visual">
-          <pose>0.0 -0.144 0.023 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <uri>model://turtlebot3_common/meshes/tire.dae</uri>
-              <scale>0.001 0.001 0.001</scale>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-
-      <link name='caster_back_right_link'>
-        <pose>-0.177 -0.064 -0.004 0 0 0</pose>
-        <inertial>
-          <mass>0.001</mass>
-          <inertia>
-            <ixx>0.00001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.00001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.00001</izz>
-          </inertia>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.005000</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-
-      <link name='caster_back_left_link'>
-        <pose>-0.177 0.064 -0.004 0 0 0</pose>
-        <inertial>
-          <mass>0.001</mass>
-          <inertia>
-            <ixx>0.00001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.00001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.00001</izz>
-          </inertia>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.005000</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <contact>
-              <ode>
-                <soft_cfm>0</soft_cfm>
-                <soft_erp>0.2</soft_erp>
-                <kp>1e+5</kp>
-                <kd>1</kd>
-                <max_vel>0.01</max_vel>
-                <min_depth>0.001</min_depth>
-              </ode>
-            </contact>
-          </surface>
-        </collision>
-      </link>
-
-      <link name="camera_link">
-        <inertial>
-          <pose>0.069 -0.047 0.107 0 0 0</pose>
-          <inertia>
-            <ixx>0.001</ixx>
-            <ixy>0.000</ixy>
-            <ixz>0.000</ixz>
-            <iyy>0.001</iyy>
-            <iyz>0.000</iyz>
-            <izz>0.001</izz>
-          </inertia>
-          <mass>0.035</mass>
-        </inertial>
-        <collision name="collision">
-          <pose>0 0.047 -0.005 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.130 0.022</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <pose>0.069 -0.047 0.107 0 0 0</pose>
-
-        <sensor name="intel_realsense_r200_depth" type="depth">
-          <always_on>1</always_on>
-          <update_rate>5</update_rate>
-          <pose>0.064 -0.047 0.107 0 0 0</pose>
-          <camera name="realsense_depth_camera">
-          </camera>
-          <plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
-            <ros>
-            </ros>
-            <camera_name>intel_realsense_r200_depth</camera_name>
-            <frame_name>camera_depth_frame</frame_name>
-            <hack_baseline>0.07</hack_baseline>
-            <min_depth>0.001</min_depth>
-            <max_depth>5.0</max_depth>
-          </plugin>
-        </sensor>
-      </link>
-
-      <joint name="base_joint" type="fixed">
-        <parent>base_footprint</parent>
-        <child>base_link</child>
-        <pose>0.0 0.0 0.010 0 0 0</pose>
-      </joint>
-
-      <joint name="imu_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>imu_link</child>
-        <pose>-0.032 0 0.068 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="gps_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>gps_link</child>
-        <pose>-0.05 0 0.05 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="wheel_left_joint" type="revolute">
-        <parent>base_link</parent>
-        <child>wheel_left_link</child>
-        <pose>0.0 0.144 0.023 -1.57 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="wheel_right_joint" type="revolute">
-        <parent>base_link</parent>
-        <child>wheel_right_link</child>
-        <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name='caster_back_right_joint' type='ball'>
-        <parent>base_link</parent>
-        <child>caster_back_right_link</child>
-      </joint>
-
-      <joint name='caster_back_left_joint' type='ball'>
-        <parent>base_link</parent>
-        <child>caster_back_left_link</child>
-      </joint>
-
-      <joint name="lidar_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>base_scan</child>
-        <pose>-0.064 0 0.121 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <joint name="camera_joint" type="fixed">
-        <parent>base_link</parent>
-        <child>camera_link</child>
-        <pose>0.064 -0.065 0.094 0 0 0</pose>
-        <axis>
-          <xyz>0 0 1</xyz>
-        </axis>
-      </joint>
-
-      <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
-
-        <ros>
-          <!-- <namespace>/tb3</namespace> -->
-          <!--since gazebo_plugins publish tf topic in global namespace /tf only and it
-            cannot be remapped like (namespace/tf) through launch arguments -->
-          <remapping>/tf:=tf</remapping>
-        </ros>
-
-        <update_rate>30</update_rate>
-
-        <!-- wheels -->
-        <left_joint>wheel_left_joint</left_joint>
-        <right_joint>wheel_right_joint</right_joint>
-
-        <!-- kinematics -->
-        <wheel_separation>0.287</wheel_separation>
-        <wheel_diameter>0.066</wheel_diameter>
-
-        <!-- limits -->
-        <max_wheel_torque>20</max_wheel_torque>
-        <max_wheel_acceleration>1.0</max_wheel_acceleration>
-
-        <command_topic>cmd_vel</command_topic>
-
-        <!-- output -->
-        <!-- The odom -> base link transform is published by the ekf in robot localization -->
-        <publish_odom>true</publish_odom>
-        <publish_odom_tf>false</publish_odom_tf>
-        <publish_wheel_tf>false</publish_wheel_tf>
-
-        <odometry_topic>odom</odometry_topic>
-        <odometry_frame>odom</odometry_frame>
-        <robot_base_frame>base_footprint</robot_base_frame>
-
-      </plugin>
-
-      <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
-        <ros>
-          <!-- <namespace>/tb3</namespace> -->
-            <remapping>~/out:=joint_states</remapping>
-        </ros>
-        <update_rate>30</update_rate>
-        <joint_name>wheel_left_joint</joint_name>
-        <joint_name>wheel_right_joint</joint_name>
-      </plugin>
-
-    </model>
-</sdf>
\ No newline at end of file
diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/__init__.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/gps_waypoint_logger.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/gps_waypoint_logger.py
deleted file mode 100644
index a80ec1a..0000000
--- a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/gps_waypoint_logger.py
+++ /dev/null
@@ -1,128 +0,0 @@
-import rclpy
-from rclpy.node import Node
-from sensor_msgs.msg import NavSatFix, Imu
-import yaml
-import os
-import sys
-import tkinter as tk
-from tkinter import messagebox
-from nav2_gps_waypoint_follower_demo.utils.gps_utils import euler_from_quaternion
-
-
-class GpsGuiLogger(tk.Tk, Node):
-    """
-    ROS2 node to log GPS waypoints to a file
-    """
-
-    def __init__(self, logging_file_path):
-        tk.Tk.__init__(self)
-        Node.__init__(self, 'gps_waypoint_logger')
-        self.title("GPS Waypoint Logger")
-
-        self.logging_file_path = logging_file_path
-
-        self.gps_pose_label = tk.Label(self, text="Current Coordinates:")
-        self.gps_pose_label.pack()
-        self.gps_pose_textbox = tk.Label(self, text="", width=45)
-        self.gps_pose_textbox.pack()
-
-        self.log_gps_wp_button = tk.Button(self, text="Log GPS Waypoint",
-                                           command=self.log_waypoint)
-        self.log_gps_wp_button.pack()
-
-        self.gps_subscription = self.create_subscription(
-            NavSatFix,
-            '/gps/fix',
-            self.gps_callback,
-            1
-        )
-        self.last_gps_position = NavSatFix()
-
-        self.imu_subscription = self.create_subscription(
-            Imu,
-            '/imu',
-            self.imu_callback,
-            1
-        )
-        self.last_heading = 0.0
-
-    def gps_callback(self, msg: NavSatFix):
-        """
-        Callback to store the last GPS pose
-        """
-        self.last_gps_position = msg
-        self.updateTextBox()
-
-    def imu_callback(self, msg: Imu):
-        """
-        Callback to store the last heading
-        """
-        _, _, self.last_heading = euler_from_quaternion(msg.orientation)
-        self.updateTextBox()
-
-    def updateTextBox(self):
-        """
-        Function to update the GUI with the last coordinates
-        """
-        self.gps_pose_textbox.config(
-            text=f"Lat: {self.last_gps_position.latitude:.6f}, Lon: {self.last_gps_position.longitude:.6f}, yaw: {self.last_heading:.2f} rad")
-
-    def log_waypoint(self):
-        """
-        Function to save a new waypoint to a file
-        """
-        # read existing waypoints
-        try:
-            with open(self.logging_file_path, 'r') as yaml_file:
-                existing_data = yaml.safe_load(yaml_file)
-        # in case the file does not exist, create with the new wps
-        except FileNotFoundError:
-            existing_data = {"waypoints": []}
-        # if other exception, raise the warining
-        except Exception as ex:
-            messagebox.showerror(
-                "Error", f"Error logging position: {str(ex)}")
-            return
-
-        # build new waypoint object
-        data = {
-            "latitude": self.last_gps_position.latitude,
-            "longitude": self.last_gps_position.longitude,
-            "yaw": self.last_heading
-        }
-        existing_data["waypoints"].append(data)
-
-        # write updated waypoints
-        try:
-            with open(self.logging_file_path, 'w') as yaml_file:
-                yaml.dump(existing_data, yaml_file, default_flow_style=False)
-        except Exception as ex:
-            messagebox.showerror(
-                "Error", f"Error logging position: {str(ex)}")
-            return
-
-        messagebox.showinfo("Info", "Waypoint logged succesfully")
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    # allow to pass the logging path as an argument
-    default_yaml_file_path = os.path.expanduser("~/gps_waypoints.yaml")
-    if len(sys.argv) > 1:
-        yaml_file_path = sys.argv[1]
-    else:
-        yaml_file_path = default_yaml_file_path
-
-    gps_gui_logger = GpsGuiLogger(yaml_file_path)
-
-    while rclpy.ok():
-        # we spin both the ROS system and the interface
-        rclpy.spin_once(gps_gui_logger, timeout_sec=0.1)  # Run ros2 callbacks
-        gps_gui_logger.update()  # Update the tkinter interface
-
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/interactive_waypoint_follower.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/interactive_waypoint_follower.py
deleted file mode 100644
index 2783ddf..0000000
--- a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/interactive_waypoint_follower.py
+++ /dev/null
@@ -1,43 +0,0 @@
-import rclpy
-from rclpy.node import Node
-from nav2_simple_commander.robot_navigator import BasicNavigator
-from geometry_msgs.msg import PointStamped
-from nav2_gps_waypoint_follower_demo.utils.gps_utils import latLonYaw2Geopose
-
-
-class InteractiveGpsWpCommander(Node):
-    """
-    ROS2 node to send gps waypoints to nav2 received from mapviz's point click publisher
-    """
-
-    def __init__(self):
-        super().__init__(node_name="gps_wp_commander")
-        self.navigator = BasicNavigator("basic_navigator")
-
-        self.mapviz_wp_sub = self.create_subscription(
-            PointStamped, "/clicked_point", self.mapviz_wp_cb, 1)
-
-    def mapviz_wp_cb(self, msg: PointStamped):
-        """
-        clicked point callback, sends received point to nav2 gps waypoint follower if its a geographic point
-        """
-        if msg.header.frame_id != "wgs84":
-            self.get_logger().warning(
-                "Received point from mapviz that ist not in wgs84 frame. This is not a gps point and wont be followed")
-            return
-
-        self.navigator.waitUntilNav2Active(localizer='robot_localization')
-        wp = [latLonYaw2Geopose(msg.point.y, msg.point.x)]
-        self.navigator.followGpsWaypoints(wp)
-        if (self.navigator.isTaskComplete()):
-            self.get_logger().info("wps completed successfully")
-
-
-def main():
-    rclpy.init()
-    gps_wpf = InteractiveGpsWpCommander()
-    rclpy.spin(gps_wpf)
-
-
-if __name__ == "__main__":
-    main()
diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/logged_waypoint_follower.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/logged_waypoint_follower.py
deleted file mode 100644
index 101fbb7..0000000
--- a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/logged_waypoint_follower.py
+++ /dev/null
@@ -1,69 +0,0 @@
-import rclpy
-from nav2_simple_commander.robot_navigator import BasicNavigator
-import yaml
-from ament_index_python.packages import get_package_share_directory
-import os
-import sys
-import time
-
-from nav2_gps_waypoint_follower_demo.utils.gps_utils import latLonYaw2Geopose
-
-
-class YamlWaypointParser:
-    """
-    Parse a set of gps waypoints from a yaml file
-    """
-
-    def __init__(self, wps_file_path: str) -> None:
-        with open(wps_file_path, 'r') as wps_file:
-            self.wps_dict = yaml.safe_load(wps_file)
-
-    def get_wps(self):
-        """
-        Get an array of geographic_msgs/msg/GeoPose objects from the yaml file
-        """
-        gepose_wps = []
-        for wp in self.wps_dict["waypoints"]:
-            latitude, longitude, yaw = wp["latitude"], wp["longitude"], wp["yaw"]
-            gepose_wps.append(latLonYaw2Geopose(latitude, longitude, yaw))
-        return gepose_wps
-
-
-class GpsWpCommander():
-    """
-    Class to use nav2 gps waypoint follower to follow a set of waypoints logged in a yaml file
-    """
-
-    def __init__(self, wps_file_path):
-        self.navigator = BasicNavigator("basic_navigator")
-        self.wp_parser = YamlWaypointParser(wps_file_path)
-
-    def start_wpf(self):
-        """
-        Function to start the waypoint following
-        """
-        self.navigator.waitUntilNav2Active(localizer='robot_localization')
-        wps = self.wp_parser.get_wps()
-        self.navigator.followGpsWaypoints(wps)
-        while (not self.navigator.isTaskComplete()):
-            time.sleep(0.1)
-        print("wps completed successfully")
-
-
-def main():
-    rclpy.init()
-
-    # allow to pass the waypoints file as an argument
-    default_yaml_file_path = os.path.join(get_package_share_directory(
-        "nav2_gps_waypoint_follower_demo"), "config", "demo_waypoints.yaml")
-    if len(sys.argv) > 1:
-        yaml_file_path = sys.argv[1]
-    else:
-        yaml_file_path = default_yaml_file_path
-
-    gps_wpf = GpsWpCommander(yaml_file_path)
-    gps_wpf.start_wpf()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/__init__.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/gps_utils.py b/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/gps_utils.py
deleted file mode 100644
index eb0cda7..0000000
--- a/nav2_gps_waypoint_follower_demo/nav2_gps_waypoint_follower_demo/utils/gps_utils.py
+++ /dev/null
@@ -1,54 +0,0 @@
-import math
-from geographic_msgs.msg import GeoPose
-from geometry_msgs.msg import Quaternion
-
-
-def quaternion_from_euler(roll, pitch, yaw):
-    """
-    Converts euler roll, pitch, yaw to quaternion
-    """
-    cy = math.cos(yaw * 0.5)
-    sy = math.sin(yaw * 0.5)
-    cp = math.cos(pitch * 0.5)
-    sp = math.sin(pitch * 0.5)
-    cr = math.cos(roll * 0.5)
-    sr = math.sin(roll * 0.5)
-
-    q = Quaternion()
-    q.w = cy * cp * cr + sy * sp * sr
-    q.x = cy * cp * sr - sy * sp * cr
-    q.y = sy * cp * sr + cy * sp * cr
-    q.z = sy * cp * cr - cy * sp * sr
-    return q
-
-
-def euler_from_quaternion(q: Quaternion):
-    """
-    Convert a quaternion into euler angles
-    taken from: https://automaticaddison.com/how-to-convert-a-quaternion-into-euler-angles-in-python/
-    """
-    t0 = +2.0 * (q.w * q.x + q.y * q.z)
-    t1 = +1.0 - 2.0 * (q.x * q.x + q.y * q.y)
-    roll_x = math.atan2(t0, t1)
-
-    t2 = +2.0 * (q.w * q.y - q.z * q.x)
-    t2 = +1.0 if t2 > +1.0 else t2
-    t2 = -1.0 if t2 < -1.0 else t2
-    pitch_y = math.asin(t2)
-
-    t3 = +2.0 * (q.w * q.z + q.x * q.y)
-    t4 = +1.0 - 2.0 * (q.y * q.y + q.z * q.z)
-    yaw_z = math.atan2(t3, t4)
-
-    return roll_x, pitch_y, yaw_z
-
-
-def latLonYaw2Geopose(latitude: float, longitude: float, yaw: float = 0.0) -> GeoPose:
-    """
-    Creates a geographic_msgs/msg/GeoPose object from latitude, longitude and yaw
-    """
-    geopose = GeoPose()
-    geopose.position.latitude = latitude
-    geopose.position.longitude = longitude
-    geopose.orientation = quaternion_from_euler(0.0, 0.0, yaw)
-    return geopose
diff --git a/nav2_gps_waypoint_follower_demo/package.xml b/nav2_gps_waypoint_follower_demo/package.xml
deleted file mode 100644
index 8bed9e4..0000000
--- a/nav2_gps_waypoint_follower_demo/package.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>nav2_gps_waypoint_follower_demo</name>
-  <version>0.0.0</version>
-  <description>Demo package for following GPS waypoints with nav2</description>
-  <maintainer email="pedro.gonzalez@eia.edu.co">pepisg</maintainer>
-  <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
-  <license>MIT</license>
-
-  <depend>navigation2</depend>
-  <depend>robot_localization</depend>
-  <depend>mapviz</depend>
-  <depend>mapviz_plugins</depend>
-  <depend>tile_map</depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>
diff --git a/nav2_gps_waypoint_follower_demo/resource/nav2_gps_waypoint_follower_demo b/nav2_gps_waypoint_follower_demo/resource/nav2_gps_waypoint_follower_demo
deleted file mode 100644
index e69de29..0000000
diff --git a/nav2_gps_waypoint_follower_demo/setup.cfg b/nav2_gps_waypoint_follower_demo/setup.cfg
deleted file mode 100644
index b0f2147..0000000
--- a/nav2_gps_waypoint_follower_demo/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/nav2_gps_waypoint_follower_demo
-[install]
-install_scripts=$base/lib/nav2_gps_waypoint_follower_demo
diff --git a/nav2_gps_waypoint_follower_demo/setup.py b/nav2_gps_waypoint_follower_demo/setup.py
deleted file mode 100644
index 943a265..0000000
--- a/nav2_gps_waypoint_follower_demo/setup.py
+++ /dev/null
@@ -1,36 +0,0 @@
-from setuptools import find_packages, setup
-import os
-from glob import glob
-
-package_name = 'nav2_gps_waypoint_follower_demo'
-
-setup(
-    name=package_name,
-    version='0.0.1',
-    packages=find_packages(exclude=['test']),
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
-        (os.path.join('share', package_name, 'config'), glob('config/*')),
-        (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
-        (os.path.join('share', package_name, 'worlds'), glob('worlds/*')),
-        (os.path.join('share', package_name, 'models/turtlebot_waffle_gps'),
-         glob('models/turtlebot_waffle_gps/*')),
-    ],
-    install_requires=['setuptools'],
-    zip_safe=True,
-    maintainer='root',
-    maintainer_email='pedro.gonzalez@eia.edu.co',
-    description='Demo package for following GPS waypoints with nav2',
-    license='MIT',
-    tests_require=['pytest'],
-    entry_points={
-        'console_scripts': [
-            'logged_waypoint_follower = nav2_gps_waypoint_follower_demo.logged_waypoint_follower:main',
-            'interactive_waypoint_follower = nav2_gps_waypoint_follower_demo.interactive_waypoint_follower:main',
-            'gps_waypoint_logger = nav2_gps_waypoint_follower_demo.gps_waypoint_logger:main'
-        ],
-    },
-)
diff --git a/nav2_gps_waypoint_follower_demo/test/test_copyright.py b/nav2_gps_waypoint_follower_demo/test/test_copyright.py
deleted file mode 100644
index 97a3919..0000000
--- a/nav2_gps_waypoint_follower_demo/test/test_copyright.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
diff --git a/nav2_gps_waypoint_follower_demo/test/test_flake8.py b/nav2_gps_waypoint_follower_demo/test/test_flake8.py
deleted file mode 100644
index 27ee107..0000000
--- a/nav2_gps_waypoint_follower_demo/test/test_flake8.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
diff --git a/nav2_gps_waypoint_follower_demo/test/test_pep257.py b/nav2_gps_waypoint_follower_demo/test/test_pep257.py
deleted file mode 100644
index b234a38..0000000
--- a/nav2_gps_waypoint_follower_demo/test/test_pep257.py
+++ /dev/null
@@ -1,23 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_pep257.main import main
-import pytest
-
-
-@pytest.mark.linter
-@pytest.mark.pep257
-def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
diff --git a/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf b/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf
deleted file mode 100644
index 8fa7b2c..0000000
--- a/nav2_gps_waypoint_follower_demo/urdf/turtlebot3_waffle_gps.urdf
+++ /dev/null
@@ -1,305 +0,0 @@
-<!-- This is the same turtlebot urdf in nav2 with the following changes -->
-<!-- 1. A link for the GPS sensor is added -->
-
-<?xml version="1.0" ?>
-<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
-
-  <xacro:property name="r200_cam_rgb_px" value="0.005"/>
-  <xacro:property name="r200_cam_rgb_py" value="0.018"/>
-  <xacro:property name="r200_cam_rgb_pz" value="0.013"/>
-  <xacro:property name="r200_cam_depth_offset" value="0.01"/> -->
-
-  <!-- Init colour -->
-  <material name="black">
-      <color rgba="0.0 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="dark">
-    <color rgba="0.3 0.3 0.3 1.0"/>
-  </material>
-
-  <material name="light_black">
-    <color rgba="0.4 0.4 0.4 1.0"/>
-  </material>
-
-  <material name="blue">
-    <color rgba="0.0 0.0 0.8 1.0"/>
-  </material>
-
-  <material name="green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
-  </material>
-
-  <material name="grey">
-    <color rgba="0.5 0.5 0.5 1.0"/>
-  </material>
-
-  <material name="orange">
-    <color rgba="1.0 0.4235 0.0392 1.0"/>
-  </material>
-
-  <material name="brown">
-    <color rgba="0.8706 0.8118 0.7647 1.0"/>
-  </material>
-
-  <material name="red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
-  </material>
-
-  <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
-
-  <link name="base_footprint"/>
-
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link" />
-    <origin xyz="0 0 0.010" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_link">
-    <visual>
-      <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="light_black"/>
-    </visual>
-
-    <collision>
-      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.266 0.266 0.094"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="1.3729096e+00"/>
-      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
-               iyy="8.6195418e-03" iyz="-3.5422299e-06"
-               izz="1.4612727e-02" />
-    </inertial>
-  </link>
-
-  <joint name="wheel_left_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_left_link"/>
-    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_left_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="wheel_right_joint" type="continuous">
-    <parent link="base_link"/>
-    <child link="wheel_right_link"/>
-    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <link name="wheel_right_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.57 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.018" radius="0.033"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="2.8498940e-02" />
-      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
-               iyy="1.1192413e-05" iyz="-1.4400107e-11"
-               izz="2.0712558e-05" />
-      </inertial>
-  </link>
-
-  <joint name="caster_back_right_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_right_link"/>
-    <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_right_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="caster_back_left_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="caster_back_left_link"/>
-    <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
-  </joint>
-
-  <link name="caster_back_left_link">
-    <collision>
-      <origin xyz="0 0.001 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.030 0.009 0.020"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="0.005" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="imu_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="imu_link"/>
-    <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
-  </joint>
-
-  <link name="imu_link"/>
-
-  <!-- Add the gps link so we get a static transform for the GPS -->
-  <joint name="gps_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="gps_link"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-  </joint>
-
-  <link name="gps_link"/>
-
-  <joint name="scan_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_scan"/>
-    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
-  </joint>
-
-  <link name="base_scan">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/lds.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="dark"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
-      <geometry>
-        <cylinder length="0.0315" radius="0.055"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="0.114" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-    </inertial>
-  </link>
-
-  <joint name="camera_joint" type="fixed">
-    <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="camera_link"/>
-  </joint>
-
-  <link name="camera_link">
-    <visual>
-     <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
-      <geometry>
-        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/r200.dae" />
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
-      <geometry>
-        <box size="0.012 0.132 0.020"/>
-      </geometry>
-    </collision>
-
-    <!-- This inertial field needs doesn't contain reliable data!! -->
-<!--   <inertial>
-      <mass value="0.564" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
-               iyy="0.000498940" iyz="0.0"
-               izz="0.003879257" />
-    </inertial>-->
-  </link>
-
-  <joint name="camera_rgb_joint" type="fixed">
-    <origin xyz="0.005 0.018 0.013" rpy="0 0 0"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_rgb_frame"/>
-  </joint>
-  <link name="camera_rgb_frame"/>
-
-  <joint name="camera_rgb_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
-    <parent link="camera_rgb_frame"/>
-    <child link="camera_rgb_optical_frame"/>
-  </joint>
-  <link name="camera_rgb_optical_frame"/>
-
-  <joint name="camera_depth_joint" type="fixed">
-    <origin xyz="0.005 0.028 0.013" rpy="-1.57 0 -1.57"/>
-    <!-- <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/> -->
-    <parent link="camera_link"/>
-    <child link="camera_depth_frame"/>
-  </joint>
-  <link name="camera_depth_frame"/>
-
-  <joint name="camera_depth_optical_joint" type="fixed">
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <parent link="camera_depth_frame"/>
-    <child link="camera_depth_optical_frame"/>
-  </joint>
-  <link name="camera_depth_optical_frame"/>
-
-</robot>
\ No newline at end of file
diff --git a/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world b/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world
deleted file mode 100644
index 9a08cbd..0000000
--- a/nav2_gps_waypoint_follower_demo/worlds/sonoma_raceway.world
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="default">
-    <!-- A global light source -->
-    <scene>
-      <ambient>0.95 0.95 0.95 1</ambient>
-      <background>0.3 0.3 0.3 1</background>
-      <shadows>true</shadows>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-    </scene>
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <include>
-      <uri>model://sonoma_raceway</uri>
-      <pose>-287.5 143.5 -7 0 0 0</pose>
-    </include>
-    <spherical_coordinates>
-      <!-- currently gazebo has a bug: instead of outputing lat, long, altitude in ENU
-      (x = East, y = North and z = Up) as the default configurations, it's outputting (-E)(-N)U,
-      therefore we rotate the default frame 180 so that it would go back to ENU 
-      see: https://github.com/osrf/gazebo/issues/2022 --> 
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>38.161479</latitude_deg>
-      <longitude_deg>-122.454630</longitude_deg>
-      <elevation>488.0</elevation>
-      <heading_deg>180</heading_deg>
-    </spherical_coordinates>
-    
-    <physics type="ode">
-      <real_time_update_rate>100.0</real_time_update_rate>
-      <max_step_size>0.01</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <ode>
-        <solver>
-          <type>quick</type>
-          <iters>150</iters>
-          <precon_iters>0</precon_iters>
-          <sor>1.400000</sor>
-          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
-        </solver>
-        <constraints>
-          <cfm>0.00001</cfm>
-          <erp>0.2</erp>
-          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
-          <contact_surface_layer>0.01000</contact_surface_layer>
-        </constraints>
-      </ode>
-    </physics>
-
-    <include>
-      <uri>model://turtlebot_waffle_gps</uri>
-      <pose>2 -2.5 0.3 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
\ No newline at end of file
diff --git a/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp b/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp
index 071fd57..744bcb5 100644
--- a/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp
+++ b/nav2_pure_pursuit_controller/src/pure_pursuit_controller.cpp
@@ -10,8 +10,7 @@
 #include <string>
 #include <memory>
 
-#include "nav2_core/controller_exceptions.hpp"
-#include "nav2_core/planner_exceptions.hpp"
+#include "nav2_core/exceptions.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav2_pure_pursuit_controller/pure_pursuit_controller.hpp"
 #include "nav2_util/geometry_utils.hpp"
diff --git a/nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp b/nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp
index 35a6f59..f7c127f 100644
--- a/nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp
+++ b/nav2_sms_behavior/include/nav2_sms_behavior/send_sms.hpp
@@ -24,18 +24,12 @@ class SendSms : public TimedBehavior<Action>
   SendSms();
   ~SendSms();
 
-  ResultStatus onRun(const std::shared_ptr<const Action::Goal> command) override;
+  Status onRun(const std::shared_ptr<const Action::Goal> command) override;
 
-  ResultStatus onCycleUpdate() override;
+  Status onCycleUpdate() override;
 
   void onConfigure() override;
 
-  /**
-   * @brief Method to determine the required costmap info
-   * @return costmap resources needed
-   */
-  nav2_core::CostmapInfoType getResourceInfo() override {return nav2_core::CostmapInfoType::NONE;}
-
 protected:
   std::string _account_sid;
   std::string _auth_token;
diff --git a/nav2_sms_behavior/src/send_sms.cpp b/nav2_sms_behavior/src/send_sms.cpp
index 06fe0e2..b672491 100644
--- a/nav2_sms_behavior/src/send_sms.cpp
+++ b/nav2_sms_behavior/src/send_sms.cpp
@@ -33,7 +33,7 @@ void SendSms::onConfigure()
   _twilio = std::make_shared<twilio::Twilio>(_account_sid, _auth_token);
 }
 
-ResultStatus SendSms::onRun(const std::shared_ptr<const Action::Goal> command)
+Status SendSms::onRun(const std::shared_ptr<const Action::Goal> command)
 {
   auto node = node_.lock();
   std::string response;
@@ -46,16 +46,16 @@ ResultStatus SendSms::onRun(const std::shared_ptr<const Action::Goal> command)
     false);
   if (!message_success) {
     RCLCPP_INFO(node->get_logger(), "SMS send failed.");
-    return ResultStatus{Status::FAILED};
+    return Status::FAILED;
   }
 
   RCLCPP_INFO(node->get_logger(), "SMS sent successfully!");
-  return ResultStatus{Status::SUCCEEDED};
+  return Status::SUCCEEDED;
 }
 
-ResultStatus SendSms::onCycleUpdate()
+Status SendSms::onCycleUpdate()
 {
-  return ResultStatus{Status::SUCCEEDED};
+  return Status::SUCCEEDED;
 }
 
 }  // namespace nav2_sms_behavior
diff --git a/nav2_straightline_planner/include/nav2_straightline_planner/straight_line_planner.hpp b/nav2_straightline_planner/include/nav2_straightline_planner/straight_line_planner.hpp
index 3643763..1b6f839 100644
--- a/nav2_straightline_planner/include/nav2_straightline_planner/straight_line_planner.hpp
+++ b/nav2_straightline_planner/include/nav2_straightline_planner/straight_line_planner.hpp
@@ -81,8 +81,7 @@ class StraightLine : public nav2_core::GlobalPlanner
   // This method creates path for given start and goal pose.
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped & start,
-    const geometry_msgs::msg::PoseStamped & goal,
-    std::function<bool()> cancel_checker) override;
+    const geometry_msgs::msg::PoseStamped & goal) override;
 
 private:
   // TF buffer
diff --git a/nav2_straightline_planner/src/straight_line_planner.cpp b/nav2_straightline_planner/src/straight_line_planner.cpp
index a8b35ea..1a3b47d 100644
--- a/nav2_straightline_planner/src/straight_line_planner.cpp
+++ b/nav2_straightline_planner/src/straight_line_planner.cpp
@@ -89,8 +89,7 @@ void StraightLine::deactivate()
 
 nav_msgs::msg::Path StraightLine::createPlan(
   const geometry_msgs::msg::PoseStamped & start,
-  const geometry_msgs::msg::PoseStamped & goal,
-  std::function<bool()> /*cancel_checker*/)
+  const geometry_msgs::msg::PoseStamped & goal)
 {
   nav_msgs::msg::Path global_path;
 
diff --git a/sam_bot_description/config/nav2_params.yaml b/sam_bot_description/config/nav2_params.yaml
index 1d3c6e4..8ed21c0 100644
--- a/sam_bot_description/config/nav2_params.yaml
+++ b/sam_bot_description/config/nav2_params.yaml
@@ -328,6 +328,7 @@ robot_state_publisher:
 
 waypoint_follower:
   ros__parameters:
+    use_sim_time: True
     loop_rate: 20
     stop_on_failure: false
     waypoint_task_executor_plugin: "wait_at_waypoint"