diff --git a/moma_gazebo/launch/giraffe_controllers.launch b/moma_gazebo/launch/giraffe_controllers.launch
deleted file mode 100644
index 388157d1..00000000
--- a/moma_gazebo/launch/giraffe_controllers.launch
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-    <!-- Robot Customization -->
-    <arg name="robot_id" default="giraffe" />
-    <arg name="arm_id" default="panda" />
-    <arg name="base_id" default="gmp" />
-    <arg name="base_controller"
-        default="swerve_controller z_axis_sim_controller joint_state_controller" />
-
-    <!-- Franka parameters  -->
-    <rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" />
-    <rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" />
-
-    <!-- Spawn gripper controller -->
-    <node pkg="controller_manager"
-        type="spawner"
-        name="$(arg arm_id)_gripper_spawner"
-        if="$(arg use_gripper)"
-        args="franka_gripper"
-        respawn="false" />
-
-    <!-- Spawns the controller after the arm was put into its initial joint pose -->
-    <node pkg="controller_manager"
-        type="spawner"
-        name="$(arg arm_id)_controller_spawner"
-        respawn="false" output="screen"
-        args="$(arg arm_controller)" />
-
-    <!-- Base parameters  -->
-    <rosparam file="$(find gmp_robot)/config/platform_description.yaml"
-        command="load" />
-
-    <!-- Spawn base controller -->
-    <node pkg="controller_manager"
-        type="spawner"
-        name="$(arg base_id)_controller_spawner"
-        respawn="false"
-        output="screen"
-        args="$(arg base_controller)"
-    />
-
-    <!-- Load the joint state publisher -->
-    <node name="joint_state_publisher" 
-        type="joint_state_publisher" 
-        pkg="joint_state_publisher"/>
-    
-</launch>
diff --git a/moma_gazebo/launch/giraffe_example.launch b/moma_gazebo/launch/giraffe_example.launch
deleted file mode 100644
index 8eb3802a..00000000
--- a/moma_gazebo/launch/giraffe_example.launch
+++ /dev/null
@@ -1,277 +0,0 @@
-<launch>
-  <!-- Debug commands  -->
-  <arg name="debug" default="true"/>
-
-  <!-- What part of robot to spawn? -->
-  <arg name="spawn_arm" default="true"/>
-  <arg name="spawn_base" default="true"/>
-  <arg name="start_controllers" default="true"/>
-
-  <!-- Gazebo & GUI Configuration -->
-  <arg name="gui" default="true" />
-  <arg name="moveit" default="true" />
-  <arg name="paused" default="false"/>
-  <arg name="rviz" default="true" />
-  <arg name="world_name" default=""/>
-
-  <!-- Robot -->
-  <arg name="robot_id" default="giraffe" />
-  <arg name="robot_description" default="robot_description" />
-  <arg name="x" default="0.0" doc="gazebo spawn loc"/>
-  <arg name="y" default="0.0" />
-  <arg name="z" default="0.0" />
-  <arg name="xacro_args" default="" />
-
-  <!-- Arm -->
-  <arg name="arm_id" default="panda" />
-  <arg name="use_gripper" default="true"/>
-  <arg name="use_fixed_camera" default="false"/>
-  <arg name="use_wrist_camera" default="true"/>
-  <arg name="use_bota" default="false"/>
-  <arg name="arm_controller" default="effort_joint_trajectory_controller" />
-  <arg name="initial_joint_positions"
-    default="-J $(arg arm_id)_joint1 0
-    -J $(arg arm_id)_joint2 -0.785398163
-    -J $(arg arm_id)_joint3 0
-    -J $(arg arm_id)_joint4 -1.57
-    -J $(arg arm_id)_joint5 0
-    -J $(arg arm_id)_joint6 1.047
-    -J $(arg arm_id)_joint7 0
-    -J $(arg arm_id)_finger_joint1 0.001
-    -J $(arg arm_id)_finger_joint2 0.001" />
-
-  <!-- Base -->
-  <arg name="base_id" default="gmp" />
-  <arg name="base_controller" 
-    default="swerve_controller z_axis_sim_controller joint_state_controller" />
-
-  <!-- MoveIt settings -->
-  <arg name="moveit_controller_manager" default="simple"/>
-  <arg name="transmission" default="effort" />
-  <arg name="pipeline" default="ompl"/>
-  <arg name="allow_trajectory_execution" default="true"/>
-  <arg name="fake_execution_type" default="interpolate"/>
-  <arg name="max_safe_path_cost" default="1"/>
-  <arg name="publish_monitored_planning_scene" default="true"/>
-
-  <!-- Include the world file  -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" default="$(arg world_name)" />
-    <arg name="paused" value="$(arg paused)" />
-    <arg name="gui" value="$(arg gui)" />
-    <arg name="use_sim_time" value="true" />
-  </include>
-
-  <!-- HERE ADD THE GIRAFFE.URDF  -->
-  <!-- MAKE SURE THE PANDA SEMANTIC CAN DEAL WITH COLLISION & NON-FIXED BASE -->
-
-  <param name="$(arg robot_description)"
-    command="xacro '$(find moma_description)/urdf/giraffe.urdf.xacro'
-      hand:=$(arg use_gripper) 
-      use_fixed_camera:=$(arg use_fixed_camera)
-      use_wrist_camera:=$(arg use_wrist_camera)
-      use_bota:=$(arg use_bota)
-      arm_id:=$(arg arm_id) 
-      gazebo:=$(arg gui) 
-      $(arg xacro_args)" />
-
-  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
-  <node name="$(arg robot_id)_model_spawner"
-      pkg="gazebo_ros"
-      type="spawn_model"
-      args="-param robot_description -urdf -model $(arg robot_id) $(arg unpause)
-      -x $(arg x) -y $(arg y) -z $(arg z)
-      $(arg initial_joint_positions) "/>
-
-  <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic"
-    command="xacro '$(find panda_moveit_config)/config/giraffe.srdf.xacro'
-    hand:=$(arg use_gripper) arm_id:=$(arg arm_id)" />
-
-  <!-- State publishing state -->
-  <node name="robot_state_publisher"
-    pkg="robot_state_publisher" type="robot_state_publisher" />
-
-  <group if="$(arg spawn_arm)" > <!-- ns="$(arg arm_id)"-->
-
-    <!-- robot_description.launch content -->
-    <!-- Load universal robot description format (URDF) -->
-    <!-- <param name="$(arg robot_description)" -->
-      <!-- command="xacro '$(find moma_description)/urdf/panda.urdf.xacro'  -->
-      <!-- hand:=$(arg use_gripper)  -->
-      <!-- use_fixed_camera:=$(arg use_fixed_camera) -->
-      <!-- use_wrist_camera:=$(arg use_wrist_camera) -->
-      <!-- use_bota:=$(arg use_bota) -->
-      <!-- arm_id:=$(arg arm_id)  -->
-      <!-- gazebo:=$(arg gui)  -->
-      <!-- $(arg xacro_args)" /> -->
-
-    <!-- gazebo.launch content -->
-    <rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" />
-    <rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" />
-
-    <param name="m_ee" value="0.76" if="$(arg use_gripper)" />
-
-    <!-- <node name="$(arg arm_id)_model_spawner" -->
-      <!-- pkg="gazebo_ros" -->
-      <!-- type="spawn_model" -->
-      <!-- args="-param robot_description -urdf -model $(arg arm_id) $(arg unpause) -->
-      <!-- $(arg initial_joint_positions) "/> -->
-
-    <!-- Spawn required ROS controllers -->
-    <node pkg="controller_manager"
-      type="spawner"
-      name="$(arg arm_id)_gripper_spawner"
-      if="$(arg use_gripper)"
-      args="franka_gripper"
-      respawn="false" />
-
-    <!-- spawns the controller after the robot was put into its initial joint pose -->
-    <node pkg="controller_manager"
-      type="spawner"
-      name="$(arg arm_id)_controller_spawner"
-      respawn="false" output="screen"
-      args=" ADD BACK TWO DASHES HERE
-      wait-for initialized franka_state_controller $(arg arm_controller)" /> -->
-
-    <!-- State publishing state -->
-    <!-- <node name="robot_state_publisher" -->
-      <!-- pkg="robot_state_publisher" type="robot_state_publisher" /> -->
-
-    <!-- <node name="joint_state_publisher"  -->
-      <!-- type="joint_state_publisher" pkg="joint_state_publisher"> -->
-      <!-- <rosparam param="source_list"> -->
-        <!-- [franka_state_controller/joint_states,  -->
-        <!-- franka_gripper/joint_states]  -->
-      <!-- </rosparam> -->
-      <!-- <param name="rate" value="30"/> -->
-    <!-- </node> -->
-
-    <!-- demo.launch, move_group.launch, and planning_context.launch -->
-    <!-- The semantic description that corresponds to the URDF -->
-    <!-- <param name="$(arg robot_description)_semantic" -->
-      <!-- command="xacro '$(find panda_moveit_config)/config/panda.srdf.xacro'  -->
-      <!-- hand:=$(arg use_gripper) arm_id:=$(arg arm_id)" /> -->
-
-  </group>
-
-  <!-- Load updated joint limits (override information from URDF) -->
-  <group unless="$(arg debug)" ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/joint_limits.yaml"
-      subst_value="true" />
-    <rosparam command="load" file="$(find panda_moveit_config)/config/cartesian_limits.yaml"
-      subst_value="true" />
-  </group>
-
-  <!-- Load default settings for kinematics -->
-  <group unless="$(arg debug)" ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"
-      subst_value="true" />
-  </group>
-
-  <!-- Planning Pipelines -->
-  <group unless="$(arg debug)" ns="move_group/planning_pipelines">
-
-    <!-- OMPL -->
-    <include file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="ompl" />
-    </include>
-
-    <!-- CHOMP -->
-    <include file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="chomp" />
-    </include>
-
-    <!-- Pilz Industrial Motion -->
-    <include file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="pilz_industrial_motion_planner" />
-    </include>
-
-    <!-- Support custom planning pipeline -->
-    <include if="$(eval arg('pipeline') 
-      not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
-      file="$(find panda_moveit_config)/launch/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="$(arg pipeline)" />
-    </include>
-  </group>
-
-  <!-- Trajectory Execution Functionality -->
-  <group unless="$(arg debug)">
-    <include ns="move_group" 
-      file="$(find panda_moveit_config)/launch/trajectory_execution.launch.xml" 
-      if="$(arg allow_trajectory_execution)"
-      pass_all_args="true">
-      <arg name="moveit_manage_controllers" value="true" />
-      <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
-      <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
-    </include>
-
-    <!-- Sensors Functionality -->
-    <include ns="move_group" file="$(find panda_moveit_config)/launch/sensor_manager.launch.xml" 
-      if="$(arg allow_trajectory_execution)">
-      <arg name="moveit_sensor_manager" value="panda" />
-    </include>
-  </group>
-
-  <!-- Start the actual move_group node/action server -->
-  <node unless="$(arg debug)" name="move_group" pkg="moveit_ros_move_group" 
-    type="move_group" respawn="false" output="screen">
-
-    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
-
-    <param name="allow_trajectory_execution" 
-      value="$(arg allow_trajectory_execution)"/>
-    <param name="sense_for_plan/max_safe_path_cost" 
-      value="$(arg max_safe_path_cost)"/>
-    <param name="default_planning_pipeline" value="$(arg pipeline)" />
-    <param name="capabilities" value="" />
-    <param name="disable_capabilities" value="" />
-
-    <param name="planning_scene_monitor/publish_planning_scene" 
-      value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_geometry_updates" 
-      value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_state_updates" 
-      value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_transforms_updates" 
-      value="$(arg publish_monitored_planning_scene)" />
-  </node>
-
-
-  <!-- Spawn robot base -->
-
-  <!-- Spawn the gazebo node  -->
-  <!-- <node name="$(arg base_id)_model_spawner"  -->
-    <!-- pkg="gazebo_ros"  -->
-    <!-- type="spawn_model"  -->
-    <!-- args="-param robot_description -urdf -model $(arg base_id) -x 2 -y 2 -z 0"  -->
-    <!-- respawn="false"  -->
-    <!-- output="screen" /> -->
-
-  <!-- Load robot description  -->
-  <!-- <param name="robot_description" textfile="$(find gmp_robot)/config/urdf/gmp.urdf" /> -->
-
-  <!-- Spawn the controllers  -->
-  <include if="$(arg start_controllers)" file="$(find gmp_robot)/launch/controller.launch" >
-    <arg name="robot_id" default="$(arg base_id)"/>
-    <arg name="controller" default="$(arg base_controller)"/>
-  </include>
-
-  <!-- State publishing state -->
-  <!-- <node name="robot_state_publisher"  -->
-    <!-- pkg="robot_state_publisher" type="robot_state_publisher" /> -->
-
-  <!-- Launch the move_base pkg -->
-  <!-- <include if="$(arg spawn_base)" file="$(find gmp_nav)/launch/move_base.launch"/> -->
-
-  <!-- Load RViz -->
-  <node if="$(arg rviz)" pkg="rviz" name="rviz" type="rviz"
-    args="-d $(find gmp_bringup)/rviz/default.rviz" />
-
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <!-- <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" if="$(arg rviz)"> -->
-    <!-- <arg name="rviz_config" value="$(find panda_moveit_config)/launch/moveit.rviz"/> -->
-    <!-- <arg name="debug" value="$(arg debug)"/> -->
-  <!-- </include> -->
-
-</launch>
diff --git a/moma_gazebo/launch/giraffe_moveit_gazebo.launch b/moma_gazebo/launch/giraffe_moveit_gazebo.launch
new file mode 100644
index 00000000..8f7a987e
--- /dev/null
+++ b/moma_gazebo/launch/giraffe_moveit_gazebo.launch
@@ -0,0 +1,126 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Gazebo & GUI Configuration -->
+  <arg name="gazebo" default="true" />
+  <arg name="headless" default="false" />
+  <arg name="paused" default="false" />
+  <arg name="world" default="worlds/empty.world" />
+  <arg name="rviz" default="true" />
+
+  <!-- Robot Customization -->
+  <arg name="arm_id" default="panda" />
+  <arg name="use_gripper" default="true" />
+  <arg name="initial_joint_positions"
+       default="-J $(arg arm_id)_joint1 0
+                -J $(arg arm_id)_joint2 -0.3927
+                -J $(arg arm_id)_joint3 0
+                -J $(arg arm_id)_joint4 -2.95 
+                -J $(arg arm_id)_joint5 0
+                -J $(arg arm_id)_joint6 0
+                -J $(arg arm_id)_joint7 0.785398163397
+                -J $(arg arm_id)_finger_joint1 0.001
+                -J $(arg arm_id)_finger_joint2 0.001" />
+
+  <!-- Launch the controller file ?-->
+  <arg name="spawn_controllers" default="true" />
+
+  <!-- Base customization -->
+  <arg name="mobile_base_x" default="0" />
+  <arg name="mobile_base_y" default="0" />
+  <arg name="mobile_base_z" default="0.1" />
+  <arg name="mobile_base_yaw" default="0" />
+
+  <!-- Remap command velocity topic -->
+  <remap from="/mobile_base/cmd_vel" to="/cmd_vel"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(arg gazebo)">
+    <arg name="world_name" value="$(arg world)"/>
+    <!-- Always start in paused mode, and only unpause when spawning the model -->
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="$(eval not arg('headless'))"/>
+    <arg name="use_sim_time" value="true"/>
+  </include>
+
+  <!-- Load robot description  -->
+  <param name="robot_description"
+    command="$(find xacro)/xacro $(find moma_description)/urdf/giraffe.urdf.xacro
+            use_nominal_extrinsics:=true"/>
+
+  <param name="robot_description_arm"
+          command="xacro $(find moma_description)/urdf/panda.urdf.xacro
+                  use_nominal_extrinsics:=true
+                  gazebo:=true
+                  include_control_plugin:=false"/>
+
+  <!-- Arm controllers -->
+  <group ns="panda">
+    <rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" />
+    <rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" />
+    <param name="m_ee" value="0.76" if="$(arg use_gripper)" />
+
+    <node pkg="controller_manager"
+          type="spawner"
+          name="$(arg arm_id)_gripper_spawner"
+          if="$(arg use_gripper)"
+          args="franka_gripper"
+          respawn="false" />
+
+    <node pkg="controller_manager"
+          type="spawner"
+          name="$(arg arm_id)_controller_spawner"
+          respawn="false" output="screen"
+          args="--wait-for initialized franka_state_controller effort_joint_trajectory_controller"/>
+
+  </group>
+
+  <!-- Base controllers -->
+  <arg name="base_id" default="gmp" />
+  <group ns="mobile_base">
+    <param name="robot_description"
+      command="$(find xacro)/xacro $(find gmp_robot)/config/urdf/gmp.urdf.xacro
+      include_control_plugin:=true multiple_robots:=true"/>
+
+    <remap from="/mobile_base/swerve_controller/cmd_vel" to="/cmd_vel"/>
+    <remap from="/mobile_base/swerve_controller/odom" to="/odom"/>
+
+    <rosparam file="$(find gmp_robot)/config/platform_description.yaml" command="load"/>
+
+    <!-- Spawn required packages  -->
+    <arg name="base_controller" default="swerve_controller z_axis_sim_controller joint_state_controller" />
+    <include file="$(find gmp_robot)/launch/controller.launch">
+      <arg name="controller" default="$(arg base_controller)" />
+    </include>
+
+  </group>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" output="screen" />
+
+  <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
+    <rosparam param="source_list">
+      [panda/franka_state_controller/joint_states,
+      panda/franka_gripper/joint_states,
+      mobile_base/joint_states]
+    </rosparam>
+    <param name="rate" value="30"/>
+  </node>
+
+  <!-- Launch MoveIt -->
+  <include file="$(find giraffe_moveit_config)/launch/move_group.launch">
+    <arg name="load_robot_description" value="false"/>
+  </include>
+ 
+  <!-- Spawn giraffe -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+  <node name="$(arg arm_id)_model_spawner"
+        pkg="gazebo_ros"
+        type="spawn_model"
+        args="-param robot_description -urdf -model $(arg arm_id) $(arg unpause)
+              $(arg initial_joint_positions)
+              -x $(arg mobile_base_x) 
+              -y $(arg mobile_base_y) 
+              -z $(arg mobile_base_z) 
+              -Y $(arg mobile_base_yaw)"/>
+
+</launch>
diff --git a/moma_gazebo/launch/panda_heron.launch b/moma_gazebo/launch/panda_heron.launch
deleted file mode 100644
index b2c87425..00000000
--- a/moma_gazebo/launch/panda_heron.launch
+++ /dev/null
@@ -1,26 +0,0 @@
-<launch>
-  <arg name="gui" default="true" />
-  <arg name="moveit" default="true" />
-  <arg name="rviz" default="true" />
-  <!-- This is the controller that moveit uses: -->
-  <arg name="controller" default="effort_joint_trajectory_controller" />
-  <arg name="world_name" default="$(find moma_gazebo)/worlds/moma_corner.world"/>
-
-  <!-- Launch the gazebo simulator and spawn the robot if not using moveit -->
-  <include file="$(find panda_moveit_config)/launch/gazebo.launch">
-    <arg name="headless" value="$(eval not arg('gui'))" />
-    <arg name="use_gripper" default="true" />
-    <arg name="world" default="$(arg world_name)" />
-    <arg name="controller" default="$(arg controller)" />
-  </include>
-
-  <!-- Launch moveit as well. -->
-  <include file="$(find panda_moveit_config)/launch/demo.launch" pass_all_args="true" if="$(arg moveit)">
-    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
-    <arg name="load_robot_description" value="false" />
-    <!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
-         as well as GripperCommand actions -->
-    <arg name="moveit_controller_manager" value="simple" />
-  </include>
-
-</launch>
diff --git a/moma_gazebo/launch/run_heron.launch b/moma_gazebo/launch/run_heron.launch
deleted file mode 100644
index 602891a2..00000000
--- a/moma_gazebo/launch/run_heron.launch
+++ /dev/null
@@ -1,65 +0,0 @@
-<launch>
-  <!-- Debug -->
-  <arg name="debug" default="true"/>
-
-  <!-- Robot Customization -->
-  <arg name="robot_id" default="giraffe" />
-
-  <!-- Robot Arm  -->
-  <arg name="arm_id" default="panda" />
-  <arg name="arm_controller" default="effort_joint_trajectory_controller" />
-  <arg name="x" default="0" />
-  <arg name="y" default="0" />
-  <arg name="z" default="1" />
-  <arg name="yaw" default="0" />
-  <arg name="use_fixed_camera" default="false" />
-  <arg name="use_wrist_camera" default="true" />
-  <arg name="use_gripper" default="true" />
-  <arg name="use_bota" default="false" />
-
-  <!-- Robot Base  -->
-  <arg name="base_id" default="gmp" />
-  <arg name="base_controller" default="swerve_controller z_axis_sim_controller" />
-  <arg name="scan_topic" default="/front/scan" />
-
-  <!-- Gazebo & GUI Configuration  -->
-  <arg name="headless" default="false"/>
-  <arg name="moveit" default="true" />
-  <arg name="paused" default="false"/>
-  <!-- <arg name="world_name" default="$(find gmp_robot)/worlds/cone.world"/> -->
-  <arg name="world_name" default=""/>
-  <arg name="rviz" default="true"/>
-
-  <!-- MoveIt! -->
-  <include if="$(arg debug)" 
-    file="$(find giraffe_moveit_config)/launch/giraffe_moveit_gazebo.launch">
-    <arg name="rviz" value="$(arg rviz)"/>
-    <arg name="headless" value="$(arg headless)"/>
-    <arg name="use_gripper" default="true" />
-    <arg name="world_name" default="$(arg world_name)" />
-    <arg name="arm_controller" default="$(arg arm_controller)" />
-    <arg name="base_controller" default="$(arg base_controller)" />
-    <arg name="use_fixed_camera" default="$(arg use_fixed_camera)" />
-    <arg name="use_wrist_camera" default="$(arg use_wrist_camera)" />
-    <arg name="use_bota" default="$(arg use_bota)" />
-  </include>
-
-  <!-- Move Base -->
-  <group if="$(arg debug)" ns="mobile_base">
-    <!-- Remap topics -->
-    <remap from="/mobile_base/front/scan" to="$(arg scan_topic)"/>
-    <remap from="/mobile_base/rear/scan" to="/rear/scan"/>
-    <remap from="/cmd_vel" to="/swerve_controller/cmd_vel"/>
-    <remap from="/odom" to="/swerve_controller/odom"/>
-
-    <!-- Run Move Base and load cost map and planner -->
-    <remap from="/mobile_base/cmd_vel" to="/cmd_vel"/>
-    <include unless="$(arg debug)" file="$(find gmp_nav)/launch/move_base.launch"/>
-  </group>
-
-  <!-- Start Rviz -->
-  <!-- <node if="$(arg rviz)" name="rviz" pkg="rviz" type="rviz" -->
-    <!-- args="-d $(find giraffe_moveit_config)/launch/moveit.rviz" output="screen" > -->
-  <!-- </node> -->
-
-</launch>
diff --git a/moma_gazebo/launch/spawn_giraffe.launch b/moma_gazebo/launch/spawn_giraffe.launch
deleted file mode 100644
index 991aed57..00000000
--- a/moma_gazebo/launch/spawn_giraffe.launch
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<launch>
-    <!-- panda arm args -->
-    <arg name="x" default="0.0"/>
-    <arg name="y" default="0.0"/>
-    <arg name="z" default="0.0"/>
-    <arg name="yaw" default="0.0"/>
-
-    <!-- Settings for the arm -->
-    <arg name="load_gripper" default="true" />
-    <arg name="arm_id" default="panda" />
-    <arg name="use_fixed_camera" default="false" />
-    <arg name="xacro_args" default="" />
-    <arg name="gazebo" default="false" />>
-    <arg name="initial_joint_positions" default="" />
-
-    <!-- The name of the parameter under which the URDF is loaded -->
-    <arg name="robot_description" default="robot_description" />
-
-    <!-- Load universal robot description format (URDF) -->
-    <param name="$(arg robot_description)"
-        command="xacro '$(find moma_description)/urdf/giraffe.urdf.xacro' 
-            hand:=$(arg load_gripper) 
-            arm_id:=$(arg arm_id) 
-            gazebo:=$(arg gazebo) 
-            use_fixed_camera:=$(arg use_fixed_camera) 
-            $(arg xacro_args)" />
-
-    <!-- spawn robot in gazebo -->
-    <node name="spawn_giraffe" pkg="gazebo_ros" 
-        type="spawn_model" respawn="false" output="screen"
-        args="-urdf -param robot_description -model giraffe
-        -x $(arg x)
-        -y $(arg y)
-        -z $(arg z)
-        $(arg initial_joint_positions)" />
-        <!-- -J panda_joint1 0 -->
-        <!-- -J panda_joint2 -0.785 -->
-        <!-- -J panda_joint3 0 -->
-        <!-- -J panda_joint4 -2.1 -->
-        <!-- -J panda_joint5 0 -->
-        <!-- -J panda_joint6 1.571 -->
-        <!-- -J panda_joint7 0.785" /> -->
-
-</launch>