diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..3819313
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+*.swp
+*.swo
diff --git a/grizzly_gazebo/launch/base_gazebo.launch b/grizzly_gazebo/launch/base_gazebo.launch
deleted file mode 100644
index c7d0e29..0000000
--- a/grizzly_gazebo/launch/base_gazebo.launch
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright (c) 2012, Clearpath Robotics
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of Clearpath Robotics nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-This program is a launch file for spawning the Clearpath Grizzly
-robot model in Gazebo
--->
-
-<launch>
-  <arg name="description" />
-  <param name="use_sim_time" value="true" />
-
-  <!-- Send the Grizzly Robot URDF to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(arg description)'" />
-
-  <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
-    args="-param robot_description
-          -urdf
-          -z 0.2
-          -model robot_description"
-    respawn="false" output="screen" />
-
-  <!-- start robot state publisher -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
-    <param name="publish_frequency" type="double" value="50.0" />
-    <param name="tf_prefix" type="string" value="" />
-  </node>
-</launch>
diff --git a/grizzly_gazebo/launch/grizzly.launch b/grizzly_gazebo/launch/grizzly.launch
index 0532a6e..283c8e8 100644
--- a/grizzly_gazebo/launch/grizzly.launch
+++ b/grizzly_gazebo/launch/grizzly.launch
@@ -30,12 +30,38 @@ robot model in Gazebo
 -->
 
 <launch>
-  <arg name="description" />
+  <!-- Grizzly accessories which may be simulated. Pass true to enable -->
+  <arg name="front_laser" default="true" />
+  <arg name="gps" default="true" />
+
+  <!-- Starting location of robot -->
+  <arg name="x_0" default="0.0" />
+  <arg name="y_0" default="0.0" />
+
+  <!-- Send the Grizzly Robot URDF to param server -->
+  <include file="$(find grizzly_description)/launch/description.launch">
+    <arg name="accessories" value="true" />
+    <arg name="front_laser" value="$(arg front_laser)" />
+  </include>
+
+  <!--
   <include file="$(find grizzly_gazebo)/launch/base_gazebo.launch">
     <arg name="description" value="$(arg description)" />
-  </include>
+  </include>-->
+
+  <!-- Launch basic control nodes -->
   <include file="$(find grizzly_motion)/launch/motion.launch">
     <arg name="simulate" value="true" />
   </include>
-  <include file="$(find grizzly_navigation)/launch/localization.launch"/>
+  <include file="$(find grizzly_control)/launch/localization.launch"/>
+
+  <!-- Push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
+    args="-param robot_description
+          -urdf
+          -x $(arg x_0)
+          -y $(arg y_0)
+          -z 0.2
+          -model grizzly"
+    respawn="false" output="screen" />
 </launch>
diff --git a/grizzly_gazebo/launch/grizzly_empty_world.launch b/grizzly_gazebo/launch/grizzly_empty_world.launch
index 6107743..5ba9820 100644
--- a/grizzly_gazebo/launch/grizzly_empty_world.launch
+++ b/grizzly_gazebo/launch/grizzly_empty_world.launch
@@ -30,11 +30,11 @@ robot model in Gazebo
 -->
 
 <launch>
-  <arg name="description" default="$(find grizzly_description)/urdf/base.urdf.xacro" />
+  <arg name="world" default="worlds/empty.world" />
 
-  <include file="$(find gazebo_ros)/launch/empty_world.launch"/>
-
-  <include file="$(find grizzly_gazebo)/launch/grizzly.launch">
-    <arg name="description" value="$(arg description)" />
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="$(arg world)" />
   </include>
+
+  <include file="$(find grizzly_gazebo)/launch/grizzly.launch" />
 </launch>