diff --git a/scout_bringup/launch/scout_nav_2d.launch b/scout_bringup/launch/scout_nav_2d.launch
deleted file mode 100644
index ad3af70..0000000
--- a/scout_bringup/launch/scout_nav_2d.launch
+++ /dev/null
@@ -1,52 +0,0 @@
-<launch>
-    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
-        <param name="port_name" type="string" value="can0" />
-
-        <param name="odom_frame" type="string" value="odom" />
-        <param name="base_frame" type="string" value="base_link" />
-
-        <param name="simulated_robot" type="bool" value="false" />
-    </node>
-
-    <node name="sensor_hub_raw_imu" pkg="scout_base" type="imu_broadcast_node" output="screen"/>
-    <include file="$(find scout_base)/launch/sensor_rslidar16.launch" />
-
-    <!--
-    <include file="$(find scout_base)/launch/sensor_d435i.launch" />
-    -->
-
-    <param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
-    <!--
-    <node pkg="tf2_ros" type="static_transform_publisher" name="lidar3d_tf_broadcaster" args="0.25 0 0.4 0 0 0 1 base_link rslidar" />
-    <node pkg="tf2_ros" type="static_transform_publisher" name="imu_tf_broadcaster" args="0.0 0 0.0 0 0 0 1 base_link imu" />
-    -->
-
-    <node name="pointcloud_to_laserscan" pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node">
-      <remap from="cloud_in" to="/rslidar_points"/>
-      <rosparam>
-        transform_tolerance: 0.01
-        min_height: 0.2
-        max_height: 0.5
-        
-        angle_min: -3.14
-        angle_max: 3.14
-        angle_increment: 0.01256
-        scan_time: 0.1
-        range_min: 0.2
-        range_max: 60.0
-        use_inf: true
-        
-        #concurrency_level affects number of pc queued for processing and the number of threadsused
-        # 0: Detect number of cores
-        # 1: Single threaded
-        # 2: inf : Parallelism level
-        concurrency_level: 1
-      </rosparam>
-    </node>
-
-    <!-- <param name="robot_description" textfile="$(find scout_base)/model/agilex_scout.urdf" /> 
-    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_base)/model/scout.urdf.xacro'" />
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> -->
-</launch>
diff --git a/scout_bringup/launch/scout_nav_3d.launch b/scout_bringup/launch/scout_nav_3d.launch
deleted file mode 100644
index df2390e..0000000
--- a/scout_bringup/launch/scout_nav_3d.launch
+++ /dev/null
@@ -1,20 +0,0 @@
-<launch>
-    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
-        <param name="port_name" type="string" value="can0" />
-
-        <param name="odom_frame" type="string" value="odom" />
-        <param name="base_frame" type="string" value="base_link" />
-
-        <param name="simulated_robot" type="bool" value="false" />
-    </node>
-
-    <node name="sensor_hub_raw_imu" pkg="scout_base" type="imu_broadcast_node" output="screen"/>
-    <include file="$(find scout_base)/launch/sensor_rslidar16.launch" />
-
-    <!--
-    <include file="$(find scout_base)/launch/sensor_d435i.launch" />
-    -->
-
-    <param name="robot_description" textfile="$(find scout_base)/urdf/agilex_scout.urdf" />
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-</launch>
diff --git a/scout_bringup/launch/sensor_d435i.launch b/scout_bringup/launch/sensor_d435i.launch
deleted file mode 100644
index 7c70c5a..0000000
--- a/scout_bringup/launch/sensor_d435i.launch
+++ /dev/null
@@ -1,103 +0,0 @@
-<launch>
-  <arg name="serial_no"           default=""/>
-  <arg name="json_file_path"      default=""/>
-  <arg name="camera"              default="camera"/>
-  <arg name="tf_prefix"           default="$(arg camera)"/>
-  <arg name="external_manager"    default="false"/>
-  <arg name="manager"             default="realsense2_camera_manager"/>
-
-  <arg name="fisheye_width"       default="640"/>
-  <arg name="fisheye_height"      default="480"/>
-  <arg name="enable_fisheye"      default="true"/>
-
-  <arg name="depth_width"         default="640"/>
-  <arg name="depth_height"        default="480"/>
-  <arg name="enable_depth"        default="true"/>
-
-  <arg name="infra_width"        default="640"/>
-  <arg name="infra_height"       default="480"/>
-  <arg name="enable_infra1"       default="true"/>
-  <arg name="enable_infra2"       default="true"/>
-
-  <arg name="color_width"         default="640"/>
-  <arg name="color_height"        default="480"/>
-  <arg name="enable_color"        default="true"/>
-
-  <arg name="fisheye_fps"         default="30"/>
-  <arg name="depth_fps"           default="30"/>
-  <arg name="infra_fps"           default="30"/>
-  <arg name="color_fps"           default="30"/>
-  <arg name="gyro_fps"            default="400"/>
-  <arg name="accel_fps"           default="250"/>
-  <arg name="enable_gyro"         default="true"/>
-  <arg name="enable_accel"        default="true"/>
-
-  <arg name="enable_pointcloud"         default="false"/>
-  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
-  <arg name="pointcloud_texture_index"  default="0"/>
-
-  <arg name="enable_sync"               default="true"/>
-  <arg name="align_depth"               default="false"/>
-
-  <arg name="filters"                   default=""/>
-  <arg name="clip_distance"             default="-2"/>
-  <arg name="linear_accel_cov"          default="0.01"/>
-  <arg name="initial_reset"             default="false"/>
-  <arg name="unite_imu_method"          default="linear_interpolation"/>
-  <arg name="topic_odom_in"             default="odom_in"/>
-  <arg name="calib_odom_file"           default=""/>
-  <arg name="publish_odom_tf"           default="true"/>
-  <arg name="allow_no_texture_points"   default="false"/>
-
-  <group ns="$(arg camera)">
-    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
-      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
-      <arg name="external_manager"         value="$(arg external_manager)"/>
-      <arg name="manager"                  value="$(arg manager)"/>
-      <arg name="serial_no"                value="$(arg serial_no)"/>
-      <arg name="json_file_path"           value="$(arg json_file_path)"/>
-
-      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
-      <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
-      <arg name="pointcloud_texture_index"  value="$(arg pointcloud_texture_index)"/>
-      <arg name="enable_sync"              value="$(arg enable_sync)"/>
-      <arg name="align_depth"              value="$(arg align_depth)"/>
-
-      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
-      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
-      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>
-
-      <arg name="depth_width"              value="$(arg depth_width)"/>
-      <arg name="depth_height"             value="$(arg depth_height)"/>
-      <arg name="enable_depth"             value="$(arg enable_depth)"/>
-
-      <arg name="color_width"              value="$(arg color_width)"/>
-      <arg name="color_height"             value="$(arg color_height)"/>
-      <arg name="enable_color"             value="$(arg enable_color)"/>
-
-      <arg name="infra_width"              value="$(arg infra_width)"/>
-      <arg name="infra_height"             value="$(arg infra_height)"/>
-      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
-      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>
-
-      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
-      <arg name="depth_fps"                value="$(arg depth_fps)"/>
-      <arg name="infra_fps"                value="$(arg infra_fps)"/>
-      <arg name="color_fps"                value="$(arg color_fps)"/>
-      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
-      <arg name="accel_fps"                value="$(arg accel_fps)"/>
-      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
-      <arg name="enable_accel"             value="$(arg enable_accel)"/>
-
-      <arg name="filters"                  value="$(arg filters)"/>
-      <arg name="clip_distance"            value="$(arg clip_distance)"/>
-      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
-      <arg name="initial_reset"            value="$(arg initial_reset)"/>
-      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
-      <arg name="topic_odom_in"            value="$(arg topic_odom_in)"/>
-      <arg name="calib_odom_file"          value="$(arg calib_odom_file)"/>
-      <arg name="publish_odom_tf"          value="$(arg publish_odom_tf)"/>
-      <arg name="allow_no_texture_points"  value="$(arg allow_no_texture_points)"/>
-    </include>
-  </group>
-</launch>
diff --git a/scout_bringup/launch/sensor_rs16_filter.launch b/scout_bringup/launch/sensor_rs16_filter.launch
deleted file mode 100644
index 3bec03f..0000000
--- a/scout_bringup/launch/sensor_rs16_filter.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<!--
-  Copyright 2016 The Cartographer Authors
-
-  Licensed under the Apache License, Version 2.0 (the "License");
-  you may not use this file except in compliance with the License.
-  You may obtain a copy of the License at
-
-       http://www.apache.org/licenses/LICENSE-2.0
-
-  Unless required by applicable law or agreed to in writing, software
-  distributed under the License is distributed on an "AS IS" BASIS,
-  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-  See the License for the specific language governing permissions and
-  limitations under the License.
--->
-
-<launch>
-  <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
-
-  <!-- Run a passthrough filter on the z axis -->
-  <node pkg="nodelet" type="nodelet" name="passthrough_z" args="load pcl/PassThrough pcl_manager" output="screen">
-    <remap from="~input" to="/rslidar_points" />
-    <remap from="~output" to="/points2" />
-    <rosparam>
-      filter_field_name: z
-      filter_limit_min: -0.8
-      filter_limit_max: 1.0
-      filter_limit_negative: False
-    </rosparam>
-  </node>
-</launch>
diff --git a/scout_bringup/launch/sensor_rslidar16.launch b/scout_bringup/launch/sensor_rslidar16.launch
deleted file mode 100644
index 8087bb4..0000000
--- a/scout_bringup/launch/sensor_rslidar16.launch
+++ /dev/null
@@ -1,40 +0,0 @@
-<launch>
-  <arg name="model" default="RS16" />
-  <!--
-  <arg name="device_ip" default="192.168.1.200" />
-  -->
-  <arg name="device_ip" default="10.7.5.103" />
-  <arg name="msop_port" default="6699" />
-  <arg name="difop_port" default="7788" />
-  <arg name="rpm" default="1200" />
-  <arg name="cut_angle" default="0" doc="If set at [0, 360), cut at specific angle feature activated, otherwise use the fixed packets number mode."/>
-  <arg name="lidar_param_path" default="$(find rslidar_pointcloud)/data/rs_lidar_16/"/>
-
-  <node  name="rslidar_node" pkg="rslidar_driver" type="rslidar_node" output="screen" >
-    <param name="model" value="$(arg model)"/>
-    <param name="device_ip" value="$(arg device_ip)" />
-    <param name="msop_port" value="$(arg msop_port)" />
-    <param name="difop_port" value="$(arg difop_port)"/>
-    <param name="cut_angle" value="$(arg cut_angle)"/>
-    <param name="rpm" value="$(arg rpm)"/>
-    <!--param name="pcap" value="path_to_pcap"/-->
-  </node>
-
-  <node  name="cloud_node" pkg="rslidar_pointcloud" type="cloud_node" output="screen" >
-    <param name="model" value="$(arg model)"/>
-    <param name="curves_path" value="$(arg lidar_param_path)/curves.csv" />
-    <param name="angle_path" value="$(arg lidar_param_path)/angle.csv" />
-    <param name="channel_path" value="$(arg lidar_param_path)/ChannelNum.csv" />
-    <param name="max_distance" value="200"/>
-    <param name="min_distance" value="0.4"/>
-    <param name="resolution_type" value="0.5cm"/>
-    <param name="intensity_mode" value="1"/>
-    <!-- remap from="rslidar_points" to="points2" /--> 
-  </node>
-
-  <include file="$(find scout_base)/launch/sensor_rs16_filter.launch" />
-
-  <!--
-  <node name="rviz" pkg="rviz" type="rviz"  args="-d $(find rslidar_pointcloud)/rviz_cfg/rslidar.rviz" />
-  -->
-</launch>