diff --git a/timda_bringup/launch/amcl.launch b/timda_bringup/launch/amcl.launch
new file mode 100644
index 0000000..2e5b608
--- /dev/null
+++ b/timda_bringup/launch/amcl.launch
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <node pkg="amcl" type="amcl" name="amcl" output="screen">
+    <remap from="scan" to="scan_multi"/>
+
+    <param name="odom_model_type" value="omni"/>
+    <param name="odom_alpha5" value="0.1"/>
+    <param name="transform_tolerance" value="0.2" />
+    <param name="gui_publish_rate" value="1.0"/>
+    <param name="laser_max_beams" value="30"/>
+    <param name="min_particles" value="500"/>
+    <param name="max_particles" value="5000"/>
+    <param name="kld_err" value="0.05"/>
+    <param name="kld_z" value="0.99"/>
+    <param name="odom_alpha1" value="0.2"/>
+    <param name="odom_alpha2" value="0.2"/>
+    <param name="odom_alpha3" value="0.8"/>
+    <param name="odom_alpha4" value="0.2"/>
+    <param name="laser_z_hit" value="0.5"/>
+    <param name="laser_z_short" value="0.05"/>
+    <param name="laser_z_max" value="0.05"/>
+    <param name="laser_z_rand" value="0.5"/>
+    <param name="laser_sigma_hit" value="0.2"/>
+    <param name="laser_lambda_short" value="0.1"/>
+    <param name="laser_lambda_short" value="0.1"/>
+    <param name="laser_model_type" value="likelihood_field"/>
+    <param name="laser_likelihood_max_dist" value="2.0"/>
+    <param name="update_min_d" value="0.2"/>
+    <param name="update_min_a" value="0.5"/>
+    <param name="global_frame_id" value="/map"/>
+    <param name="base_frame_id" value="/base_link"/>
+    <param name="odom_frame_id" value="odom"/>
+    <param name="resample_interval" value="1"/>
+    <param name="transform_tolerance" value="0.1"/>
+    <param name="recovery_alpha_slow" value="0.0"/>
+    <param name="recovery_alpha_fast" value="0.0"/>
+  </node>
+
+</launch>
diff --git a/timda_sim b/timda_sim
index a2af6b1..cc171b2 160000
--- a/timda_sim
+++ b/timda_sim
@@ -1 +1 @@
-Subproject commit a2af6b17f4d60fb1960b25ed2fb4247b23fb8d53
+Subproject commit cc171b2b3f3c01d615bd8f89eb00d353d9e03110