diff --git a/experiments/experiment_cit3f_with_gamma.sh b/experiments/experiment_cit3f_with_gamma.sh
index 4c9e7b7..7409e1c 100755
--- a/experiments/experiment_cit3f_with_gamma.sh
+++ b/experiments/experiment_cit3f_with_gamma.sh
@@ -1,5 +1,5 @@
for i in `seq 1`
do
- roslaunch real_tsudanuma2-3_sim nav_cloning_sim.launch script:=nav_cloning_with_direction_node.py mode:=selected_training world_name:=tsudanuma2-3_v2.3.3.world map_file:=real_tsudanuma2-3.yaml waypoints_file:=real_tsudanuma2-3_way.yaml dist_err:=0.8 initial_pose_x:=-5.0 initial_pose_y:=7.7 initial_pose_a:=3.14 use_waypoint_nav:=true robot_x:=0.0 robot_y:=0.0 robot_Y:=0.0
+ roslaunch real_tsudanuma2-3_sim nav_cloning_sim.launch script:=nav_cloning_with_direction_node.py mode:=selected_training world_name:=tsudanuma2-3_v2.3.3.world map_file:=real_tsudanuma2-3_v2.yaml waypoints_file:=real_tsudanuma2-3_way.yaml dist_err:=0.8 initial_pose_x:=-5.0 initial_pose_y:=7.7 initial_pose_a:=3.14 use_waypoint_nav:=true robot_x:=0.0 robot_y:=0.0 robot_Y:=0.0
sleep 10
done
\ No newline at end of file
diff --git a/experiments/experiment_cit3f_with_turtlebot3.sh b/experiments/experiment_cit3f_with_turtlebot3.sh
new file mode 100755
index 0000000..b57a7f1
--- /dev/null
+++ b/experiments/experiment_cit3f_with_turtlebot3.sh
@@ -0,0 +1,5 @@
+for i in `seq 1`
+do
+ roslaunch real_tsudanuma2-3_sim nav_cloning_sim_turtlebot3.launch script:=nav_cloning_with_direction_node.py mode:=selected_training world_name:=tsudanuma2-3_v2.3.3.world map_file:=real_tsudanuma2-3.yaml waypoints_file:=real_tsudanuma2-3_way.yaml dist_err:=0.8 initial_pose_x:=-5.0 initial_pose_y:=7.7 initial_pose_a:=3.14 use_waypoint_nav:=true robot_x:=0.0 robot_y:=0.0 robot_Y:=0.0
+ sleep 10
+done
\ No newline at end of file
diff --git a/launch/gamma_navigation.launch b/launch/gamma_navigation.launch
index d756c58..9ff7429 100644
--- a/launch/gamma_navigation.launch
+++ b/launch/gamma_navigation.launch
@@ -33,18 +33,18 @@
-
+
-
+
@@ -69,7 +69,7 @@
-
+
+
diff --git a/launch/nav_cloning_sim.launch b/launch/nav_cloning_sim.launch
index bd8f76a..8c015e0 100644
--- a/launch/nav_cloning_sim.launch
+++ b/launch/nav_cloning_sim.launch
@@ -26,7 +26,7 @@
-
+
diff --git a/launch/nav_cloning_sim_turtlebot3.launch b/launch/nav_cloning_sim_turtlebot3.launch
new file mode 100644
index 0000000..8791c00
--- /dev/null
+++ b/launch/nav_cloning_sim_turtlebot3.launch
@@ -0,0 +1,55 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ $(arg mode)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/launch/turtlebot3_navigation.launch b/launch/turtlebot3_navigation.launch
index 46379f4..1d9a38a 100644
--- a/launch/turtlebot3_navigation.launch
+++ b/launch/turtlebot3_navigation.launch
@@ -40,22 +40,28 @@
-->
-
+
+
+
+
+
+
-
+
-
+