diff --git a/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/cam0_pinhole_p1.yaml b/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/cam0_pinhole_p1.yaml
deleted file mode 100644
index 9d3d266..0000000
--- a/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/cam0_pinhole_p1.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-%YAML:1.0
----
-model_type: PINHOLE
-camera_name: camera
-image_width: 752
-image_height: 480
-distortion_parameters:
- k1: 0
- k2: 0
- p1: 0
- p2: 0
-projection_parameters:
- fx: 376
- fy: 376
- cx: 376
- cy: 240
diff --git a/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/cam1_pinhole_p1.yaml b/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/cam1_pinhole_p1.yaml
deleted file mode 100644
index 9d3d266..0000000
--- a/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/cam1_pinhole_p1.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-%YAML:1.0
----
-model_type: PINHOLE
-camera_name: camera
-image_width: 752
-image_height: 480
-distortion_parameters:
- k1: 0
- k2: 0
- p1: 0
- p2: 0
-projection_parameters:
- fx: 376
- fy: 376
- cx: 376
- cy: 240
diff --git a/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/euroc_stereo_config_plus5.yaml b/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/euroc_stereo_config_plus5.yaml
deleted file mode 100644
index fa8775b..0000000
--- a/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/euroc_stereo_config_plus5.yaml
+++ /dev/null
@@ -1,55 +0,0 @@
-%YAML:1.0
-
-#common parameters
-#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam;
-imu: 0
-num_of_cam: 2
-
-imu_topic: "/imu0"
-image0_topic: "/cam0/image_raw"
-image1_topic: "/cam1/image_raw"
-output_path: "/home/tony-ws1/output/"
-
-cam0_calib: "cam0_pinhole_p1.yaml" #"cam0_mei.yaml"
-cam1_calib: "cam1_pinhole_p1.yaml" #"cam1_mei.yaml"
-image_width: 752
-image_height: 480
-
-
-# Extrinsic parameter between IMU and Camera.
-estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
- # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
-
-body_T_cam0: !!opencv-matrix
- rows: 4
- cols: 4
- dt: d
- data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975,
- 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768,
- -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949,
- 0, 0, 0, 1]
-
-body_T_cam1: !!opencv-matrix
- rows: 4
- cols: 4
- dt: d
- data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556,
- 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024,
- -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038,
- 0, 0, 0, 1]
-
-#Multiple thread support
-multiple_thread: 1
-
-#feature traker paprameters
-max_cnt: 150 # max feature number in feature tracking
-min_dist: 30 # min distance between two features
-freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
-F_threshold: 1.0 # ransac threshold (pixel)
-show_track: 1 # publish tracking image as topic
-flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy
-
-#optimization parameters
-max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time
-max_num_iterations: 8 # max solver itrations, to guarantee real time
-keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
diff --git a/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/euroc_stereo_imu_config.yaml b/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/euroc_stereo_imu_config.yaml
deleted file mode 100644
index 3b87793..0000000
--- a/sensing/slam/vio/VINS-Fusion/config/gaas_sitl/euroc_stereo_imu_config.yaml
+++ /dev/null
@@ -1,73 +0,0 @@
-%YAML:1.0
-
-#common parameters
-#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam;
-imu: 1
-num_of_cam: 2
-
-imu_topic: "/imu_stereo"
-image0_topic: "/gi/forward/left/image_raw"
-image1_topic: "/gi/forward/right/image_raw"
-output_path: "/home/gi/output/"
-
-cam0_calib: "cam0_pinhole_p1.yaml"
-cam1_calib: "cam1_pinhole_p1.yaml"
-image_width: 752
-image_height: 480
-
-
-# Extrinsic parameter between IMU and Camera.
-estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
- # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
-
-body_T_cam0: !!opencv-matrix
- rows: 4
- cols: 4
- dt: d
- data: [0, 0, 1, 0,
- -1, 0, 0, 0.12,
- 0, -1, 0, -0.3,
- 0, 0, 0, 1.]
-
-
-body_T_cam1: !!opencv-matrix
- rows: 4
- cols: 4
- dt: d
- data: [0, 0, 1, 0,
- -1, 0, 0, 0,
- 0, -1, 0, -0.3,
- 0, 0, 0, 1.]
-
-
-#Multiple thread support
-multiple_thread: 1
-
-#feature traker paprameters
-max_cnt: 150 # max feature number in feature tracking
-min_dist: 30 # min distance between two features
-freq: 80 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
-F_threshold: 1.0 # ransac threshold (pixel)
-show_track: 1 # publish tracking image as topic
-flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy
-
-#optimization parameters
-max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time
-max_num_iterations: 8 # max solver itrations, to guarantee real time
-keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
-
-#imu parameters The more accurate parameters you provide, the better performance
-acc_n: 0.01 # accelerometer measurement noise standard deviation.
-gyr_n: 0.01 # gyroscope measurement noise standard deviation.
-acc_w: 0.001 # accelerometer bias random work noise standard deviation.
-gyr_w: 0.0001 # gyroscope bias random work noise standard deviation.
-g_norm: 9.81007 # gravity magnitude
-
-#unsynchronization parameters
-estimate_td: 0 # online estimate time offset between camera and imu
-td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
-
-#loop closure parameters
-load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path'
-pose_graph_save_path: "~/output/pose_graph/" # save and load path
-save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0
diff --git a/sitl_config/launch/iris_arm.launch b/sitl_config/launch/iris_arm.launch
index cd5d9bf..760a15f 100644
--- a/sitl_config/launch/iris_arm.launch
+++ b/sitl_config/launch/iris_arm.launch
@@ -25,7 +25,7 @@
-
+
@@ -45,7 +45,6 @@
-
diff --git a/sitl_config/launch/single_vehicle_spawn.launch b/sitl_config/launch/single_vehicle_with_arm_spawn.launch
similarity index 86%
rename from sitl_config/launch/single_vehicle_spawn.launch
rename to sitl_config/launch/single_vehicle_with_arm_spawn.launch
index ae2fbf1..154a6aa 100644
--- a/sitl_config/launch/single_vehicle_spawn.launch
+++ b/sitl_config/launch/single_vehicle_with_arm_spawn.launch
@@ -20,7 +20,7 @@
-
+