diff --git a/config/main.rviz b/config/main.rviz
index 10daa84f..fc0cef4d 100644
--- a/config/main.rviz
+++ b/config/main.rviz
@@ -4,9 +4,13 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /LaserScan1
+        - /LaserScan1/Topic1
         - /Camera1/Visibility1
+        - /Map1
+        - /Map1/Topic1
       Splitter Ratio: 0.5
-    Tree Height: 520
+    Tree Height: 543
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -46,6 +50,8 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
+        base_footprint:
+          Value: true
         base_link:
           Value: true
         camera_link:
@@ -74,6 +80,8 @@ Visualization Manager:
       Tree:
         odom:
           base_link:
+            base_footprint:
+              {}
             chassis:
               camera_link:
                 camera_link_optical:
@@ -108,6 +116,10 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         base_link:
           Alpha: 1
           Show Axes: false
@@ -151,6 +163,9 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
       Name: RobotModel
       TF Prefix: ""
       Update Interval: 0
@@ -182,15 +197,17 @@ Visualization Manager:
       Style: Flat Squares
       Topic:
         Depth: 5
-        Durability Policy: Volatile
+        Durability Policy: Transient Local
+        Filter size: 10
         History Policy: Keep Last
-        Reliability Policy: Reliable
+        Reliability Policy: Best Effort
         Value: /scan
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
     - Class: rviz_default_plugins/Camera
       Enabled: true
+      Far Plane Distance: 100
       Image Rendering: background and overlay
       Name: Camera
       Overlay Alpha: 0.5
@@ -204,10 +221,32 @@ Visualization Manager:
       Visibility:
         Grid: true
         LaserScan: true
+        Map: true
         RobotModel: false
         TF: false
         Value: true
       Zoom Factor: 1
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -223,6 +262,9 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -251,7 +293,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 5.735118865966797
+      Distance: 2.1972548961639404
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -266,26 +308,26 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.32979676127433777
+      Pitch: 0.22979654371738434
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 5.1385817527771
+      Yaw: 1.590415358543396
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 996
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000385fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000297000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002de000000e80000002800ffffff000000010000010f00000386fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000386000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000060e0000038500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000039efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002aa000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002ed000000ee0000002800ffffff000000010000010f00000386fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000386000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005ca0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1918
-  X: 0
-  Y: 28
+  Width: 1850
+  X: 70
+  Y: 27
diff --git a/config/my_controllers.yaml b/config/my_controllers.yaml
index b07f970c..ecb7af13 100644
--- a/config/my_controllers.yaml
+++ b/config/my_controllers.yaml
@@ -15,7 +15,8 @@ diff_cont:
     publish_rate: 50.0
 
     base_frame_id: base_link
-
+    
+    
     left_wheel_names: ['left_wheel_joint']
     right_wheel_names: ['right_wheel_joint']
     wheel_separation: 0.297
diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index bae3aa36..5f4b08f6 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -26,7 +26,7 @@ amcl:
     recovery_alpha_fast: 0.0
     recovery_alpha_slow: 0.0
     resample_interval: 1
-    robot_model_type: "differential"
+    robot_model_type: "nav2_amcl::DifferentialMotionModel"
     save_pose_rate: 0.5
     sigma_hit: 0.2
     tf_broadcast: true
@@ -39,49 +39,72 @@ amcl:
     z_short: 0.05
     scan_topic: scan
 
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: True
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 bt_navigator:
   ros__parameters:
     use_sim_time: True
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odom
-    enable_groot_monitoring: True
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    # '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_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_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_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_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_distance_traveled_condition_bt_node
+      - 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_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
 
-bt_navigator_rclcpp_node:
+bt_navigator_navigate_through_poses_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+bt_navigator_navigate_to_pose_rclcpp_node:
   ros__parameters:
     use_sim_time: True
 
@@ -92,8 +115,9 @@ controller_server:
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
     progress_checker_plugin: "progress_checker"
-    goal_checker_plugin: "goal_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
     controller_plugins: ["FollowPath"]
 
     # Progress checker parameters
@@ -102,11 +126,16 @@ controller_server:
       required_movement_radius: 0.5
       movement_time_allowance: 10.0
     # Goal checker parameters
-    goal_checker:
+    #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
-      stateful: True
     # DWB parameters
     FollowPath:
       plugin: "dwb_core::DWBLocalPlanner"
@@ -150,10 +179,6 @@ controller_server:
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
 
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: True
-
 local_costmap:
   local_costmap:
     ros__parameters:
@@ -188,15 +213,14 @@ local_costmap:
           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
       static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
       always_send_full_costmap: True
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 global_costmap:
   global_costmap:
@@ -220,6 +244,10 @@ global_costmap:
           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
       static_layer:
         plugin: "nav2_costmap_2d::StaticLayer"
         map_subscribe_transient_local: True
@@ -228,25 +256,21 @@ global_costmap:
         cost_scaling_factor: 3.0
         inflation_radius: 0.55
       always_send_full_costmap: True
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: True
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: True
 
 map_server:
   ros__parameters:
     use_sim_time: True
-    yaml_filename: "turtlebot3_world.yaml"
+    # Overridden in launch by the "map" launch configuration or provided default value.
+    # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below.
+    yaml_filename: ""
 
 map_saver:
   ros__parameters:
     use_sim_time: True
-    save_map_timeout: 5000
+    save_map_timeout: 5.0
     free_thresh_default: 0.25
     occupied_thresh_default: 0.65
-    map_subscribe_transient_local: False
+    map_subscribe_transient_local: True
 
 planner_server:
   ros__parameters:
@@ -259,25 +283,35 @@ planner_server:
       use_astar: false
       allow_unknown: true
 
-planner_server_rclcpp_node:
+smoother_server:
   ros__parameters:
     use_sim_time: True
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      max_its: 1000
+      do_refinement: True
 
-recoveries_server:
+behavior_server:
   ros__parameters:
     costmap_topic: local_costmap/costmap_raw
     footprint_topic: local_costmap/published_footprint
     cycle_frequency: 10.0
-    recovery_plugins: ["spin", "back_up", "wait"]
+    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
     spin:
-      plugin: "nav2_recoveries/Spin"
-    back_up:
-      plugin: "nav2_recoveries/BackUp"
+      plugin: "nav2_behaviors/Spin"
+    backup:
+      plugin: "nav2_behaviors/BackUp"
+    drive_on_heading:
+      plugin: "nav2_behaviors/DriveOnHeading"
     wait:
-      plugin: "nav2_recoveries/Wait"
+      plugin: "nav2_behaviors/Wait"
+    assisted_teleop:
+      plugin: "nav2_behaviors/AssistedTeleop"
     global_frame: odom
     robot_base_frame: base_link
-    transform_timeout: 0.1
+    transform_tolerance: 0.1
     use_sim_time: true
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
@@ -287,3 +321,29 @@ recoveries_server:
 robot_state_publisher:
   ros__parameters:
     use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    use_sim_time: True
+    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:
+    use_sim_time: True
+    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/description/ros2_control.xacro b/description/ros2_control.xacro
index 296a7c57..d55f5de1 100644
--- a/description/ros2_control.xacro
+++ b/description/ros2_control.xacro
@@ -8,10 +8,10 @@
                 <param name="left_wheel_name">left_wheel_joint</param>
                 <param name="right_wheel_name">right_wheel_joint</param>
                 <param name="loop_rate">30</param>
-                <param name="device">/dev/ttyUSB0</param>
+                <param name="device">/dev/ttyACM0</param>
                 <param name="baud_rate">57600</param>
                 <param name="timeout">1000</param>
-                <param name="enc_counts_per_rev">3436</param>
+                <param name="enc_counts_per_rev">2800</param>
             </hardware>
             <joint name="left_wheel_joint">
                 <command_interface name="velocity">
diff --git a/launch/launch_robot.launch.py b/launch/launch_robot.launch.py
index 670d6ae5..01e4f4b7 100755
--- a/launch/launch_robot.launch.py
+++ b/launch/launch_robot.launch.py
@@ -61,7 +61,7 @@ def generate_launch_description():
 
     diff_drive_spawner = Node(
         package="controller_manager",
-        executable="spawner.py",
+        executable="spawner",
         arguments=["diff_cont"],
     )
 
@@ -74,7 +74,7 @@ def generate_launch_description():
 
     joint_broad_spawner = Node(
         package="controller_manager",
-        executable="spawner.py",
+        executable="spawner",
         arguments=["joint_broad"],
     )
 
diff --git a/launch/launch_sim.launch.py b/launch/launch_sim.launch.py
index e08f9727..0db2f6e8 100755
--- a/launch/launch_sim.launch.py
+++ b/launch/launch_sim.launch.py
@@ -57,13 +57,13 @@ def generate_launch_description():
 
     diff_drive_spawner = Node(
         package="controller_manager",
-        executable="spawner.py",
+        executable="spawner",
         arguments=["diff_cont"],
     )
 
     joint_broad_spawner = Node(
         package="controller_manager",
-        executable="spawner.py",
+        executable="spawner",
         arguments=["joint_broad"],
     )
 
diff --git a/launch/navigation_launch.py b/launch/navigation_launch.py
index 237d2095..d9f7cb5e 100644
--- a/launch/navigation_launch.py
+++ b/launch/navigation_launch.py
@@ -17,9 +17,12 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
-from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.actions import Node
+from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import RewrittenYaml
 
 
@@ -31,14 +34,19 @@ def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time')
     autostart = LaunchConfiguration('autostart')
     params_file = LaunchConfiguration('params_file')
-    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
-    map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
+    use_composition = LaunchConfiguration('use_composition')
+    container_name = LaunchConfiguration('container_name')
+    container_name_full = (namespace, '/', container_name)
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
 
     lifecycle_nodes = ['controller_server',
+                       'smoother_server',
                        'planner_server',
-                       'recoveries_server',
+                       'behavior_server',
                        'bt_navigator',
-                       'waypoint_follower']
+                       'waypoint_follower',
+                       'velocity_smoother']
 
     # Map fully qualified names to relative ones so the node's namespace can be prepended.
     # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
@@ -52,94 +60,213 @@ def generate_launch_description():
     # Create our own temporary YAML files that include substitutions
     param_substitutions = {
         'use_sim_time': use_sim_time,
-        'default_bt_xml_filename': default_bt_xml_filename,
-        'autostart': autostart,
-        'map_subscribe_transient_local': map_subscribe_transient_local}
+        'autostart': autostart}
 
-    configured_params = RewrittenYaml(
+    configured_params = ParameterFile(
+        RewrittenYaml(
             source_file=params_file,
             root_key=namespace,
             param_rewrites=param_substitutions,
-            convert_types=True)
-
-    return LaunchDescription([
-        # Set env var to print messages to stdout immediately
-        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
-
-        DeclareLaunchArgument(
-            'namespace', default_value='',
-            description='Top-level namespace'),
-
-        DeclareLaunchArgument(
-            'use_sim_time', default_value='false',
-            description='Use simulation (Gazebo) clock if true'),
-
-        DeclareLaunchArgument(
-            'autostart', default_value='true',
-            description='Automatically startup the nav2 stack'),
-
-        DeclareLaunchArgument(
-            'params_file',
-            default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
-            description='Full path to the ROS2 parameters file to use'),
-
-        DeclareLaunchArgument(
-            'default_bt_xml_filename',
-            default_value=os.path.join(
-                get_package_share_directory('nav2_bt_navigator'),
-                'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
-            description='Full path to the behavior tree xml file to use'),
-
-        DeclareLaunchArgument(
-            'map_subscribe_transient_local', default_value='false',
-            description='Whether to set the map subscriber QoS to transient local'),
-
-        Node(
-            package='nav2_controller',
-            executable='controller_server',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_planner',
-            executable='planner_server',
-            name='planner_server',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_recoveries',
-            executable='recoveries_server',
-            name='recoveries_server',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_bt_navigator',
-            executable='bt_navigator',
-            name='bt_navigator',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_waypoint_follower',
-            executable='waypoint_follower',
-            name='waypoint_follower',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_lifecycle_manager',
-            executable='lifecycle_manager',
-            name='lifecycle_manager_navigation',
-            output='screen',
-            parameters=[{'use_sim_time': use_sim_time},
-                        {'autostart': autostart},
-                        {'node_names': lifecycle_nodes}]),
-
-    ])
+            convert_types=True),
+        allow_substs=True)
+
+    stdout_linebuf_envvar = SetEnvironmentVariable(
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_params_file_cmd = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes')
+
+    declare_autostart_cmd = DeclareLaunchArgument(
+        'autostart', default_value='true',
+        description='Automatically startup the nav2 stack')
+
+    declare_use_composition_cmd = DeclareLaunchArgument(
+        'use_composition', default_value='False',
+        description='Use composed bringup if True')
+
+    declare_container_name_cmd = DeclareLaunchArgument(
+        'container_name', default_value='nav2_container',
+        description='the name of conatiner that nodes will load in if use composition')
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn', default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.')
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
+    load_nodes = GroupAction(
+        condition=IfCondition(PythonExpression(['not ', use_composition])),
+        actions=[
+            Node(
+                package='nav2_controller',
+                executable='controller_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
+            Node(
+                package='nav2_smoother',
+                executable='smoother_server',
+                name='smoother_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_planner',
+                executable='planner_server',
+                name='planner_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_behaviors',
+                executable='behavior_server',
+                name='behavior_server',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_bt_navigator',
+                executable='bt_navigator',
+                name='bt_navigator',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_waypoint_follower',
+                executable='waypoint_follower',
+                name='waypoint_follower',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings),
+            Node(
+                package='nav2_velocity_smoother',
+                executable='velocity_smoother',
+                name='velocity_smoother',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings +
+                        [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
+            Node(
+                package='nav2_lifecycle_manager',
+                executable='lifecycle_manager',
+                name='lifecycle_manager_navigation',
+                output='screen',
+                arguments=['--ros-args', '--log-level', log_level],
+                parameters=[{'use_sim_time': use_sim_time},
+                            {'autostart': autostart},
+                            {'node_names': lifecycle_nodes}]),
+        ]
+    )
+
+    load_composable_nodes = LoadComposableNodes(
+        condition=IfCondition(use_composition),
+        target_container=container_name_full,
+        composable_node_descriptions=[
+            ComposableNode(
+                package='nav2_controller',
+                plugin='nav2_controller::ControllerServer',
+                name='controller_server',
+                parameters=[configured_params],
+                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
+            ComposableNode(
+                package='nav2_smoother',
+                plugin='nav2_smoother::SmootherServer',
+                name='smoother_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_planner',
+                plugin='nav2_planner::PlannerServer',
+                name='planner_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_behaviors',
+                plugin='behavior_server::BehaviorServer',
+                name='behavior_server',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_bt_navigator',
+                plugin='nav2_bt_navigator::BtNavigator',
+                name='bt_navigator',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_waypoint_follower',
+                plugin='nav2_waypoint_follower::WaypointFollower',
+                name='waypoint_follower',
+                parameters=[configured_params],
+                remappings=remappings),
+            ComposableNode(
+                package='nav2_velocity_smoother',
+                plugin='nav2_velocity_smoother::VelocitySmoother',
+                name='velocity_smoother',
+                parameters=[configured_params],
+                remappings=remappings +
+                           [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
+            ComposableNode(
+                package='nav2_lifecycle_manager',
+                plugin='nav2_lifecycle_manager::LifecycleManager',
+                name='lifecycle_manager_navigation',
+                parameters=[{'use_sim_time': use_sim_time,
+                             'autostart': autostart,
+                             'node_names': lifecycle_nodes}]),
+        ],
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Set environment variables
+    ld.add_action(stdout_linebuf_envvar)
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_params_file_cmd)
+    ld.add_action(declare_autostart_cmd)
+    ld.add_action(declare_use_composition_cmd)
+    ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
+    # Add the actions to launch all of the navigation nodes
+    ld.add_action(load_nodes)
+    ld.add_action(load_composable_nodes)
+
+    return ld
diff --git a/launch/rplidar.launch.py b/launch/rplidar.launch.py
index 40c9ddea..3c1b7009 100644
--- a/launch/rplidar.launch.py
+++ b/launch/rplidar.launch.py
@@ -7,11 +7,11 @@ def generate_launch_description():
     return LaunchDescription([
 
         Node(
-            package='rplidar_ros',
-            executable='rplidar_composition',
+            package='ydlidar_ros2_driver',
+            executable='ydlidar_ros2_driver_node',
             output='screen',
             parameters=[{
-                'serial_port': '/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0-port0',
+                'serial_port': '/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.2:1.0-port0',
                 'frame_id': 'laser_frame',
                 'angle_compensate': True,
                 'scan_mode': 'Standard'
diff --git a/worlds/Hospital.world b/worlds/Hospital.world
new file mode 100644
index 00000000..71809f30
--- /dev/null
+++ b/worlds/Hospital.world
@@ -0,0 +1,1384 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='therobot_world'>
+      <pose>0.157709 -0.122347 0 0 -0 0</pose>
+      <link name='Wall_10'>
+        <collision name='Wall_10_Collision'>
+          <geometry>
+            <box>
+              <size>3 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_10_Visual'>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <pose>6.145 -0.225 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_11'>
+        <collision name='Wall_11_Collision'>
+          <geometry>
+            <box>
+              <size>2.25 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_11_Visual'>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.25 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <pose>6.145 2.25 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_12'>
+        <pose>2.345 3.3 0 0 -0 3.14159</pose>
+        <visual name='Wall_12_Visual_0'>
+          <pose>-1.52457 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>4.70086 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/CeilingTiled</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Wall_12_Collision_0'>
+          <geometry>
+            <box>
+              <size>4.70086 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>-1.52457 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_12_Visual_1'>
+          <pose>2.80043 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.14914 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/CeilingTiled</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Wall_12_Collision_1'>
+          <geometry>
+            <box>
+              <size>2.14914 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>2.80043 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_12_Visual_2'>
+          <pose>1.27586 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/CeilingTiled</name>
+            </script>
+            <ambient>1 0.764706 0.305882 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Wall_12_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose>1.27586 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_13'>
+        <collision name='Wall_13_Collision'>
+          <geometry>
+            <box>
+              <size>4 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_13_Visual'>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>4 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 0.470588 0 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <pose>-1.455 5.225 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_14'>
+        <collision name='Wall_14_Collision'>
+          <geometry>
+            <box>
+              <size>2.5 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_14_Visual'>
+          <pose>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <pose>-1.455 8.325 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
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+      <wall_time>1717246985 613538408</wall_time>
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+      <light name='sun'>
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+        <view_controller>orbit</view_controller>
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