diff --git a/src/renderer/components/BatteryStatus/BatteryStatus.tsx b/src/renderer/components/BatteryStatus/BatteryStatus.tsx
index 6623f48b..d7e79f35 100644
--- a/src/renderer/components/BatteryStatus/BatteryStatus.tsx
+++ b/src/renderer/components/BatteryStatus/BatteryStatus.tsx
@@ -1,7 +1,10 @@
 import BatteryGauge from 'react-battery-gauge';
 import React, { memo } from 'react';
 import { styled } from '@/renderer/globalStyles/styled';
-import Popup from 'reactjs-popup';
+import {
+  StyledPopup,
+  StyledPopupContainer,
+} from '@/renderer/components/styles';
 import BatteryDetailsPopup from './BatteryDetailsPopup';
 import { defaultTheme } from '@/renderer/globalStyles/themes/defaultTheme';
 import useBatteryInfo from '@/renderer/hooks/useBatteryInfo';
@@ -36,7 +39,7 @@ const BatteryStatus = ({ name, topicName }: BatteryStatusProps) => {
   return (
     <StyledPopup
       trigger={
-        <Container>
+        <StyledPopupContainer>
           <PercentageText>{name}</PercentageText>
           <PercentageText>{batteryInfo.percentage.toFixed(0)}%</PercentageText>
           <BatteryGauge
@@ -45,7 +48,7 @@ const BatteryStatus = ({ name, topicName }: BatteryStatusProps) => {
             aspectRatio={0.42}
             customization={customization}
           />
-        </Container>
+        </StyledPopupContainer>
       }
       on="click"
       position="bottom center"
@@ -61,43 +64,10 @@ const BatteryStatus = ({ name, topicName }: BatteryStatusProps) => {
   );
 };
 
-const Container = styled.div`
-  display: flex;
-  flex-direction: row;
-  justify-content: center;
-  align-items: center;
-  &:hover {
-    cursor: pointer;
-  }
-`;
-
 const PercentageText = styled.div`
   font-size: 12px;
   margin-right: 5px;
   font-weight: bold;
 `;
 
-const StyledPopup = styled(Popup)`
-  @keyframes anvil {
-    0% {
-      transform: scale(1) translateY(0px);
-      opacity: 0;
-      box-shadow: 0 0 0 rgba(241, 241, 241, 0);
-    }
-    1% {
-      transform: scale(0.96) translateY(10px);
-      opacity: 0;
-      box-shadow: 0 0 0 rgba(241, 241, 241, 0);
-    }
-    100% {
-      transform: scale(1) translateY(0px);
-      opacity: 1;
-      box-shadow: 0 0 500px rgba(241, 241, 241, 0);
-    }
-  }
-  &-content {
-    -webkit-animation: anvil 0.2s cubic-bezier(0.38, 0.1, 0.36, 0.9) forwards;
-  }
-`;
-
 export default memo(BatteryStatus);
diff --git a/src/renderer/components/CountdownStatus/CountdownStatus.tsx b/src/renderer/components/CountdownStatus/CountdownStatus.tsx
new file mode 100644
index 00000000..36a3a86f
--- /dev/null
+++ b/src/renderer/components/CountdownStatus/CountdownStatus.tsx
@@ -0,0 +1,19 @@
+import { styled } from '@/renderer/globalStyles/styled';
+import { IoMdStopwatch } from 'react-icons/io';
+import { Countdown } from '@/renderer/components/common/Countdown';
+import React, { FC } from 'react';
+
+export const CountdownStatus: FC = () => {
+  return (
+    <Countdown
+      icon={<StyledIoMdStopwatch />}
+      labelPopup={'scenario'}
+      durationDefault={35}
+    />
+  );
+};
+
+const StyledIoMdStopwatch = styled(IoMdStopwatch)`
+  height: 1.25em;
+  width: 1.25em;
+`;
diff --git a/src/renderer/components/ExplorationStatus/ExplorationCancelNavigation.tsx b/src/renderer/components/ExplorationStatus/ExplorationCancelNavigation.tsx
new file mode 100644
index 00000000..19b3d3e3
--- /dev/null
+++ b/src/renderer/components/ExplorationStatus/ExplorationCancelNavigation.tsx
@@ -0,0 +1,35 @@
+import { rosClient } from '@/renderer/utils/ros/rosClient';
+import React, { FC } from 'react';
+import { TopicOptions } from '@/renderer/utils/ros/roslib-ts-client/@types';
+import { styled } from '@/renderer/globalStyles/styled';
+import { FaStop } from 'react-icons/fa';
+import { toast } from 'react-toastify';
+
+const stopNavigationTopic: TopicOptions = {
+  name: '/move_base/cancel',
+  messageType: 'actionlib_msgs/GoalID',
+};
+
+interface CancelNavigation {
+  isCancelNavigationProps: () => void;
+}
+
+export const ExplorationCancelNavigation: FC<CancelNavigation> = ({
+  isCancelNavigationProps,
+}) => {
+  const onClick = () => {
+    rosClient.publish(stopNavigationTopic, {});
+    isCancelNavigationProps();
+    toast.info('Navigation stop');
+  };
+
+  return <StyledFaStop onClick={onClick} />;
+};
+
+export const StyledFaStop = styled(FaStop)`
+  margin-top: 0.25em;
+  color: red;
+  &:hover {
+    cursor: pointer;
+  }
+`;
diff --git a/src/renderer/components/ExplorationStatus/ExplorationStatus.tsx b/src/renderer/components/ExplorationStatus/ExplorationStatus.tsx
new file mode 100644
index 00000000..f5f7c3c3
--- /dev/null
+++ b/src/renderer/components/ExplorationStatus/ExplorationStatus.tsx
@@ -0,0 +1,62 @@
+import { styled } from '@/renderer/globalStyles/styled';
+import { ExplorationCancelNavigation } from './ExplorationCancelNavigation';
+import { GoTelescope } from 'react-icons/go';
+import { Countdown } from '@/renderer/components/common/Countdown';
+import { rosClient } from '@/renderer/utils/ros/rosClient';
+import React, { FC, useState } from 'react';
+import { log } from '@/renderer/logger';
+
+export const ExplorationStatus: FC = () => {
+  const [isNowStopCountdownTimer, setIsNowStopCountdownTimer] = useState(false);
+
+  const startTimer = (duration: number) => {
+    setIsNowStopCountdownTimer(false);
+    startRosExplorationTimer(duration);
+  };
+
+  const stopTimer = () => {
+    setIsNowStopCountdownTimer(true);
+    stopRosExplorationTimer();
+  };
+
+  const startRosExplorationTimer = (duration: number) => {
+    rosClient
+      .callService(
+        {
+          name: `/start_exploration`,
+        },
+        { timeout: duration * 60 }
+      )
+      .catch(log.error);
+  };
+
+  const stopRosExplorationTimer = () => {
+    rosClient
+      .callService(
+        {
+          name: `/stop_exploration`,
+        },
+        {}
+      )
+      .catch(log.error);
+  };
+
+  return (
+    <Countdown
+      icon={<StyledGoTelescope />}
+      labelPopup={'exploration'}
+      durationDefault={2}
+      onStartClick={startTimer}
+      onStopClick={stopTimer}
+      sideElement={
+        <ExplorationCancelNavigation isCancelNavigationProps={stopTimer} />
+      }
+      isNowStopCountdownTimer={isNowStopCountdownTimer}
+    />
+  );
+};
+
+const StyledGoTelescope = styled(GoTelescope)`
+  height: 1.25em;
+  width: 1.25em;
+`;
diff --git a/src/renderer/components/pages/Config/pages/GpioPinsConfig/GpioPin.tsx b/src/renderer/components/GpioPinsStatus/GpioPin.tsx
similarity index 84%
rename from src/renderer/components/pages/Config/pages/GpioPinsConfig/GpioPin.tsx
rename to src/renderer/components/GpioPinsStatus/GpioPin.tsx
index 0149cf10..4d3e369f 100644
--- a/src/renderer/components/pages/Config/pages/GpioPinsConfig/GpioPin.tsx
+++ b/src/renderer/components/GpioPinsStatus/GpioPin.tsx
@@ -11,19 +11,6 @@ interface GpioPinProps {
   gpioPin: GpioPinState;
 }
 
-const Card = styled.div`
-  background-color: ${({ theme }) => theme.colors.darkerBackground};
-  border-radius: 4px;
-  padding: 16px;
-  margin: 8px;
-  min-width: 150px;
-  display: flex;
-  flex-direction: column;
-  justify-content: flex-start;
-  align-items: flex-start;
-  box-shadow: 0 0 10px 0 rgba(0, 0, 0, 0.5);
-`;
-
 export const GpioPin = ({ gpioPin }: GpioPinProps) => {
   const dispatch = useDispatch();
 
@@ -43,7 +30,7 @@ export const GpioPin = ({ gpioPin }: GpioPinProps) => {
 
   return (
     <Card>
-      <h3 style={{ paddingBottom: '4px' }}>{gpioPin.name}</h3>
+      <SytledP>{gpioPin.name}</SytledP>
       <IconButton
         icon={<FaPowerOff />}
         title={gpioPin.isOn ? 'Power Off' : 'Power On'}
@@ -57,3 +44,16 @@ export const GpioPin = ({ gpioPin }: GpioPinProps) => {
     </Card>
   );
 };
+
+const Card = styled.div`
+  padding: 8px;
+  margin: 4px;
+  min-width: 150px;
+  display: flex;
+  flex-direction: column;
+  justify-content: flex-start;
+`;
+
+const SytledP = styled.p`
+  margin-bottom: 0.25em;
+`;
diff --git a/src/renderer/components/GpioPinsStatus/GpioPinsStatus.tsx b/src/renderer/components/GpioPinsStatus/GpioPinsStatus.tsx
new file mode 100644
index 00000000..52566644
--- /dev/null
+++ b/src/renderer/components/GpioPinsStatus/GpioPinsStatus.tsx
@@ -0,0 +1,64 @@
+import React, { memo } from 'react';
+import { StyledPopup } from '@/renderer/components/styles';
+import { useSelector } from 'react-redux';
+import { selectAllGpioPins } from '@/renderer/store/modules/gpioPins';
+import { GpioPin } from './GpioPin';
+import { styled } from '@/renderer/globalStyles/styled';
+import { BsLightbulb } from 'react-icons/bs';
+import { BsLightbulbOff } from 'react-icons/bs';
+
+const GpioPinsStatus = () => {
+  const gpioPins = useSelector(selectAllGpioPins);
+  const isAGpioPinOn = gpioPins.find((gpioPin) => gpioPin.isOn)?.isOn;
+  return (
+    <StyledPopup
+      trigger={
+        <Container>
+          {isAGpioPinOn ? <StyledBsLightbulb /> : <StyledBsLightbulbOff />}
+        </Container>
+      }
+      on="click"
+      position="bottom center"
+      arrow={false}
+      repositionOnResize={true}
+    >
+      <StyledDiv>
+        {gpioPins.map((gpioPin) => (
+          <GpioPin key={gpioPin.id} gpioPin={gpioPin} />
+        ))}
+      </StyledDiv>
+    </StyledPopup>
+  );
+};
+
+const Container = styled.div`
+  display: flex;
+  flex-direction: row;
+  justify-content: center;
+  align-items: center;
+  &:hover {
+    cursor: pointer;
+  }
+`;
+
+const StyledDiv = styled.div`
+  display: flex;
+  flex-direction: row;
+  align-items: flex-start;
+  background-color: ${({ theme }) => theme.colors.darkerBackground};
+  box-shadow: 0 0 10px 0 rgba(0, 0, 0, 0.5);
+  border-radius: 4px;
+  min-width: 150px;
+`;
+
+const StyledBsLightbulb = styled(BsLightbulb)`
+  height: 1.25em;
+  width: 1.25em;
+`;
+
+const StyledBsLightbulbOff = styled(BsLightbulbOff)`
+  height: 1.25em;
+  width: 1.25em;
+`;
+
+export default memo(GpioPinsStatus);
diff --git a/src/renderer/components/Header.tsx b/src/renderer/components/Header.tsx
index e7bf6138..614562ef 100644
--- a/src/renderer/components/Header.tsx
+++ b/src/renderer/components/Header.tsx
@@ -4,6 +4,9 @@ import { NavLink } from 'react-router-dom';
 import { selectDebugTabVisible } from '@/renderer/store/modules/debugTab';
 import { useSelector } from 'react-redux';
 import BatteryStatus from './BatteryStatus/BatteryStatus';
+import GpioPinsStatus from './GpioPinsStatus/GpioPinsStatus';
+import { ExplorationStatus } from './ExplorationStatus/ExplorationStatus';
+import { CountdownStatus } from './CountdownStatus/CountdownStatus';
 
 interface NavLinkDefinition {
   to: string;
@@ -47,6 +50,9 @@ export const Header: FC = () => {
           ))}
       </LeftHeader>
       <RightHeader>
+        <CountdownStatus />
+        <ExplorationStatus />
+        <GpioPinsStatus />
         <BatteryStatus name="Motor" topicName="/vbus1" />
         <BatteryStatus name="Logic" topicName="/vbus2" />
         <StyledLogo src="assets/images/logo.png" />
@@ -57,7 +63,7 @@ export const Header: FC = () => {
 
 const HeaderGrid = styled.div`
   display: grid;
-  grid-template-columns: 1fr 400px;
+  grid-template-columns: 1fr 500px;
   box-shadow: 0 3px 2px rgba(0, 0, 0, 0.25);
 `;
 
diff --git a/src/renderer/components/StatusBar.tsx b/src/renderer/components/StatusBar.tsx
index 694fa776..029e8330 100644
--- a/src/renderer/components/StatusBar.tsx
+++ b/src/renderer/components/StatusBar.tsx
@@ -85,6 +85,7 @@ const ModeInfo = () => {
         {flipper.matches('rl') && (isReverse ? 'FRONT RIGHT' : 'REAR LEFT')}
         {flipper.matches('rr') && (isReverse ? 'FRONT LEFT' : 'REAR RIGHT')}
         {flipper.matches('all') && 'ALL'}
+        {flipper.matches('none') && 'NONE'}
         {flipper.matches('rear') && (isReverse ? 'FRONT' : 'REAR')}
       </div>
     );
diff --git a/src/renderer/components/common/Countdown.tsx b/src/renderer/components/common/Countdown.tsx
new file mode 100644
index 00000000..3341b884
--- /dev/null
+++ b/src/renderer/components/common/Countdown.tsx
@@ -0,0 +1,214 @@
+import { styled } from '@/renderer/globalStyles/styled';
+import {
+  StyledPopup,
+  StyledPopupContent,
+  StyledPopupContainer,
+} from '@/renderer/components/styles';
+import { Button } from '@/renderer/components/common/Button';
+import React, { useEffect, FC, useState, ChangeEvent, useRef } from 'react';
+import { LabeledInput } from '@/renderer/components/common/LabeledInput';
+
+const INTERVAL_MS = 1000;
+
+interface CountdownProps {
+  icon: JSX.Element;
+  labelPopup: string;
+  durationDefault: number;
+  onStartClick?: (duration: number) => void;
+  onStopClick?: () => void;
+  sideElement?: JSX.Element;
+  /**
+   * If true, the timer will be stopped.
+   */
+  isNowStopCountdownTimer?: boolean;
+}
+
+export const Countdown: FC<CountdownProps> = ({
+  icon,
+  labelPopup,
+  durationDefault,
+  onStartClick,
+  onStopClick,
+  sideElement,
+  isNowStopCountdownTimer,
+}) => {
+  const countDownDate = useRef<number>(0);
+  const intervalRef = useRef<ReturnType<typeof setInterval>>();
+
+  const [duration, setDuration] = useState(durationDefault);
+  const [timerDisplay, setTimerDisplay] = useState('00:00');
+
+  const getTimeRemaining = () => {
+    return countDownDate.current - Date.now();
+  };
+
+  useEffect(() => {
+    if (isNowStopCountdownTimer) {
+      stopTimer();
+      updateTimerDisplay();
+    }
+  }, [isNowStopCountdownTimer]);
+
+  /**
+   * Parses a time in milliseconds to a string in the format mm:ss
+   *
+   * @param timeRemain - time in milliseconds
+   */
+  const formatTime = (timeRemain: number): string => {
+    const minutes = Math.floor((timeRemain % (1000 * 60 * 60)) / (1000 * 60));
+    const seconds = Math.floor((timeRemain % (1000 * 60)) / 1000);
+
+    const minutesDiplay = minutes.toString().padStart(2, '0');
+    const secondsDiplay = seconds.toString().padStart(2, '0');
+
+    return `${minutesDiplay}:${secondsDiplay}`;
+  };
+
+  const startTimer = () => {
+    if (intervalRef.current !== undefined) {
+      stopTimer();
+    }
+    countDownDate.current = Date.now() + duration * 60 * 1000;
+    intervalRef.current = setInterval(handleTimerTick, INTERVAL_MS);
+    if (onStartClick !== undefined) {
+      onStartClick(duration);
+    }
+  };
+
+  const stopTimer = () => {
+    clearInterval(intervalRef.current);
+    intervalRef.current = undefined;
+    countDownDate.current = 0;
+    if (onStopClick !== undefined) {
+      onStopClick();
+    }
+  };
+
+  /**
+   * Updates the timer display.
+   * If the timer is negative, it will be set to 0.
+   */
+  const updateTimerDisplay = () => {
+    let time = getTimeRemaining();
+    if (time < 0) {
+      time = 0;
+    }
+    const timeDisplay = formatTime(time);
+    setTimerDisplay(timeDisplay);
+  };
+
+  const isTimerActive = () => {
+    return countDownDate.current > Date.now();
+  };
+
+  /**
+   * This function is called when the user clicks the start button.
+   */
+  const handleStartButtonClick = () => {
+    startTimer();
+    handleTimerTick();
+  };
+
+  /**
+   * This function is called when the user clicks the stop button.
+   */
+  const handleStopButtonClick = () => {
+    stopTimer();
+    updateTimerDisplay();
+  };
+
+  /**
+   * This function is called when the user changes the duration.
+   * @param e - the event
+   */
+  const handleDurationChange = (e: ChangeEvent<HTMLInputElement>) => {
+    setDuration(Number(e.target.value));
+  };
+
+  /**
+   * This function is called every second by the timer.
+   */
+  const handleTimerTick = () => {
+    const time = getTimeRemaining();
+    if (time <= 0) {
+      countDownDate.current = 0;
+      stopTimer();
+    }
+
+    updateTimerDisplay();
+  };
+
+  return (
+    <StyledDiv>
+      {sideElement}
+      <StyledPopup
+        trigger={
+          <StyledPopupContainer>
+            {isTimerActive() && timerDisplay}
+            {icon}
+          </StyledPopupContainer>
+        }
+        on="click"
+        position="bottom center"
+        arrow={false}
+        repositionOnResize={true}
+      >
+        <StyledPopupContent>
+          <StyledDivTimer>
+            <div>
+              <LabeledInput
+                label={`Duration of ${labelPopup} (min)`}
+                value={duration.toString()}
+                type="number"
+                onChange={handleDurationChange}
+              />
+              <StyledDivDuration>
+                <Button
+                  onClick={handleStartButtonClick}
+                  btnType="success"
+                  style={{ maxWidth: '185px' }}
+                >
+                  Start
+                </Button>
+                <Button
+                  onClick={handleStopButtonClick}
+                  btnType="danger"
+                  style={{ maxWidth: '185px' }}
+                >
+                  Stop
+                </Button>
+              </StyledDivDuration>
+            </div>
+            <StyledDivInfo>
+              <StyledP>Time left</StyledP>
+              <p>{timerDisplay}</p>
+              {sideElement}
+            </StyledDivInfo>
+          </StyledDivTimer>
+        </StyledPopupContent>
+      </StyledPopup>
+    </StyledDiv>
+  );
+};
+
+const StyledDiv = styled.div`
+  display: flex;
+  column-gap: 5px;
+`;
+
+const StyledDivTimer = styled.div`
+  margin: 1em;
+`;
+
+const StyledDivDuration = styled.div`
+  display: flex;
+  column-gap: 20px;
+`;
+
+const StyledDivInfo = styled(StyledDivDuration)`
+  margin: 8px;
+`;
+
+const StyledP = styled.p`
+  margin-right: 20px;
+`;
diff --git a/src/renderer/components/pages/Config/ConfigPage.tsx b/src/renderer/components/pages/Config/ConfigPage.tsx
index 5a22c656..6bd6c183 100644
--- a/src/renderer/components/pages/Config/ConfigPage.tsx
+++ b/src/renderer/components/pages/Config/ConfigPage.tsx
@@ -8,7 +8,6 @@ import { GraphConfig } from '@/renderer/components/pages/Config/pages/GraphConfi
 import { styled } from '@/renderer/globalStyles/styled';
 import { LaunchConfig } from '@/renderer/components/pages/Config/pages/LaunchConfig/LaunchConfig';
 import ArmPresetsConfig from '@/renderer/components/pages/Config/pages/ArmPresetsConfig/ArmPresetsConfig';
-import { GpioPinsConfig } from '@/renderer/components/pages/Config/pages/GpioPinsConfig/GpioPinsConfig';
 
 export const ConfigPage: FC = () => {
   return (
@@ -23,7 +22,6 @@ export const ConfigPage: FC = () => {
           <Route path="/camera" element={<CameraConfig />} />
           <Route path="/graph" element={<GraphConfig />} />
           <Route path="/armPresets" element={<ArmPresetsConfig />} />
-          <Route path="/gpioPins" element={<GpioPinsConfig />} />
           <Route path="/gamepad" element={<GamepadConfig />} />
           <Route path="/launch" element={<LaunchConfig />} />
         </Routes>
diff --git a/src/renderer/components/pages/Config/pages/GpioPinsConfig/GpioPinsConfig.tsx b/src/renderer/components/pages/Config/pages/GpioPinsConfig/GpioPinsConfig.tsx
deleted file mode 100644
index ec09e118..00000000
--- a/src/renderer/components/pages/Config/pages/GpioPinsConfig/GpioPinsConfig.tsx
+++ /dev/null
@@ -1,26 +0,0 @@
-import React from 'react';
-import { SectionTitle } from '../../styles';
-import { useSelector } from 'react-redux';
-import { selectAllGpioPins } from '@/renderer/store/modules/gpioPins';
-import { GpioPin } from './GpioPin';
-import { styled } from '@/renderer/globalStyles/styled';
-
-const Container = styled.div`
-  display: flex;
-  flex-direction: row;
-  align-items: flex-start;
-`;
-
-export const GpioPinsConfig = () => {
-  const gpioPins = useSelector(selectAllGpioPins);
-  return (
-    <>
-      <SectionTitle>GPIO Control</SectionTitle>
-      <Container>
-        {gpioPins.map((gpioPin) => (
-          <GpioPin key={gpioPin.id} gpioPin={gpioPin} />
-        ))}
-      </Container>
-    </>
-  );
-};
diff --git a/src/renderer/components/styles.ts b/src/renderer/components/styles.ts
new file mode 100644
index 00000000..61057b63
--- /dev/null
+++ b/src/renderer/components/styles.ts
@@ -0,0 +1,45 @@
+import Popup from 'reactjs-popup';
+import { styled } from '@/renderer/globalStyles/styled';
+
+export const StyledPopup = styled(Popup)`
+  @keyframes anvil {
+    0% {
+      transform: scale(1) translateY(0px);
+      opacity: 0;
+      box-shadow: 0 0 0 rgba(241, 241, 241, 0);
+    }
+    1% {
+      transform: scale(0.96) translateY(10px);
+      opacity: 0;
+      box-shadow: 0 0 0 rgba(241, 241, 241, 0);
+    }
+    100% {
+      transform: scale(1) translateY(0px);
+      opacity: 1;
+      box-shadow: 0 0 500px rgba(241, 241, 241, 0);
+    }
+  }
+  &-content {
+    -webkit-animation: anvil 0.2s cubic-bezier(0.38, 0.1, 0.36, 0.9) forwards;
+  }
+`;
+
+export const StyledPopupContent = styled.div`
+  display: flex;
+  flex-direction: row;
+  align-items: flex-start;
+  background-color: ${({ theme }) => theme.colors.darkerBackground};
+  box-shadow: 0 0 10px 0 rgba(0, 0, 0, 0.5);
+  border-radius: 4px;
+  min-width: 150px;
+`;
+
+export const StyledPopupContainer = styled.div`
+  display: flex;
+  flex-direction: row;
+  justify-content: center;
+  align-items: center;
+  &:hover {
+    cursor: pointer;
+  }
+`;
diff --git a/src/renderer/inputSystem/index.ts b/src/renderer/inputSystem/index.ts
index 56612010..7eaf1b6f 100644
--- a/src/renderer/inputSystem/index.ts
+++ b/src/renderer/inputSystem/index.ts
@@ -6,7 +6,7 @@ import { controlService } from '@/renderer/state/control';
 import { log } from '@/renderer/logger';
 import { armModeActions } from './armModeActions';
 import { flipperModeActions } from './flipperModeActions';
-import { TopicOptions } from '../utils/ros/roslib-ts-client/@types';
+import { TopicOptions } from '@/renderer/utils/ros/roslib-ts-client/@types';
 import { store } from '@/renderer/store/store';
 import { selectRobotNameState } from '@/renderer/store/modules/input';
 
@@ -15,6 +15,11 @@ const gripperTopic: TopicOptions = {
   messageType: 'ovis_robotiq_gripper/OvisGripperPosition',
 };
 
+const stopNavigationTopic: TopicOptions = {
+  name: '/move_base/cancel',
+  messageType: 'actionlib_msgs/GoalID',
+};
+
 const defaultActions: Action[] = [
   {
     name: 'estop',
@@ -57,14 +62,11 @@ const defaultActions: Action[] = [
       });
     },
   },
-
   {
-    name: 'wristlights',
+    name: 'stopNavigation',
     bindings: [{ type: 'gamepadBtnDown', button: buttonMappings.X }],
     perform: () => {
-      rosClient
-        .callService({ name: '/capra/wrist_light_toggle' })
-        .catch(log.error);
+      rosClient.publish(stopNavigationTopic, {});
     },
   },
 ];
diff --git a/src/renderer/state/flipper.ts b/src/renderer/state/flipper.ts
index c09ec425..a1b7be50 100644
--- a/src/renderer/state/flipper.ts
+++ b/src/renderer/state/flipper.ts
@@ -16,6 +16,7 @@ interface FlipperStateSchema {
     rl: Record<string, unknown>;
     rr: Record<string, unknown>;
     all: Record<string, unknown>;
+    none: Record<string, unknown>;
   };
 }
 
@@ -32,44 +33,44 @@ export const flipperMachine = Machine<
 >(
   {
     id: 'flipper',
-    initial: 'all',
+    initial: 'none',
     context: {},
     states: {
       front: {
         on: {
           MODE_LEFT: { target: 'fl', actions: 'set_mode_fl' },
           MODE_RIGHT: { target: 'fr', actions: 'set_mode_fr' },
-          MODE_REAR: { target: 'all', actions: 'set_mode_all' },
+          MODE_REAR: { target: 'none', actions: 'set_mode_none' },
         },
       },
       fl: {
         on: {
           MODE_RIGHT: { target: 'front', actions: 'set_mode_front' },
-          MODE_REAR: { target: 'all', actions: 'set_mode_all' },
+          MODE_REAR: { target: 'none', actions: 'set_mode_none' },
         },
       },
       fr: {
         on: {
           MODE_LEFT: { target: 'front', actions: 'set_mode_front' },
-          MODE_REAR: { target: 'all', actions: 'set_mode_all' },
+          MODE_REAR: { target: 'none', actions: 'set_mode_none' },
         },
       },
       rear: {
         on: {
-          MODE_FRONT: { target: 'all', actions: 'set_mode_all' },
+          MODE_FRONT: { target: 'none', actions: 'set_mode_none' },
           MODE_LEFT: { target: 'rl', actions: 'set_mode_rl' },
           MODE_RIGHT: { target: 'rr', actions: 'set_mode_rr' },
         },
       },
       rl: {
         on: {
-          MODE_FRONT: { target: 'all', actions: 'set_mode_all' },
+          MODE_FRONT: { target: 'none', actions: 'set_mode_none' },
           MODE_RIGHT: { target: 'rear', actions: 'set_mode_rear' },
         },
       },
       rr: {
         on: {
-          MODE_FRONT: { target: 'all', actions: 'set_mode_none' },
+          MODE_FRONT: { target: 'none', actions: 'set_mode_none' },
           MODE_LEFT: { target: 'rear', actions: 'set_mode_rear' },
         },
       },
@@ -77,12 +78,24 @@ export const flipperMachine = Machine<
         on: {
           MODE_FRONT: { target: 'front', actions: 'set_mode_front' },
           MODE_REAR: { target: 'rear', actions: 'set_mode_rear' },
+          MODE_LEFT: { target: 'none', actions: 'set_mode_none' },
+        },
+      },
+      none: {
+        on: {
+          MODE_FRONT: { target: 'front', actions: 'set_mode_front' },
+          MODE_REAR: { target: 'rear', actions: 'set_mode_rear' },
+          MODE_RIGHT: { target: 'all', actions: 'set_mode_all' },
         },
       },
     },
   },
   {
     actions: {
+      set_mode_none: () => {
+        void sendFlipperMode('front_disable');
+        void sendFlipperMode('rear_disable');
+      },
       set_mode_all: () => {
         void sendFlipperMode('front_enable');
         void sendFlipperMode('rear_enable');
diff --git a/src/renderer/store/modules/launchFiles.ts b/src/renderer/store/modules/launchFiles.ts
index 670a5dca..3f6d3402 100644
--- a/src/renderer/store/modules/launchFiles.ts
+++ b/src/renderer/store/modules/launchFiles.ts
@@ -27,6 +27,42 @@ export const initialState: LaunchFilesState[] = [
     fileName: 'ovis_arm.launch',
     isLaunched: false,
   },
+  {
+    name: 'Navigation',
+    packageName: 'markhor_navigation',
+    fileName: 'markhor_nav.launch',
+    isLaunched: false,
+  },
+  {
+    name: 'Slam Real',
+    packageName: 'markhor_slam',
+    fileName: 'markhor_slam_real.launch',
+    isLaunched: false,
+  },
+  {
+    name: 'Slam Real RGB',
+    packageName: 'markhor_slam',
+    fileName: 'markhor_slam_real.launch camera:=true',
+    isLaunched: false,
+  },
+  {
+    name: 'Slam Simulation',
+    packageName: 'markhor_slam',
+    fileName: 'markhor_slam.launch',
+    isLaunched: false,
+  },
+  {
+    name: 'Slam 2D',
+    packageName: 'markhor_slam',
+    fileName: 'markhor_slam_2d.launch',
+    isLaunched: false,
+  },
+  {
+    name: 'Radiation Sensor Mapping',
+    packageName: 'capra_sensor_mapping',
+    fileName: 'sensor_mapping.launch',
+    isLaunched: false,
+  },
 ];
 
 export const launchFilesSlice = createSlice({