diff --git a/rusty/launch/move_base.launch b/rusty/launch/move_base.launch
index 22a2e3f..ee18424 100644
--- a/rusty/launch/move_base.launch
+++ b/rusty/launch/move_base.launch
@@ -8,13 +8,13 @@
   <!-- move_base -->
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     <param name="base_global_planner" value="navfn/NavfnROS" />
-    <param name="base_local_planner" value="base_local_planner/TrajectoryPlannerROS"/>
+    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/>
     <rosparam file="$(find rusty)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
     <rosparam file="$(find rusty)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
     <rosparam file="$(find rusty)/params/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find rusty)/params/global_costmap_params.yaml" command="load" />
     <rosparam file="$(find rusty)/params/move_base_params.yaml" command="load" />
-    <rosparam file="$(find rusty)/params/base_local_planner.yaml" command="load" />
+    <rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" />
     <!--rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" /-->
     <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
     <remap from="odom" to="$(arg odom_topic)"/>
diff --git a/rusty/launch/navigation.launch b/rusty/launch/navigation.launch
index 22cdf11..dd8d8f0 100644
--- a/rusty/launch/navigation.launch
+++ b/rusty/launch/navigation.launch
@@ -22,7 +22,7 @@
   <rosparam command="load" file="$(find rusty)/config/location.yaml" />
   <!-- rviz -->
   
-  <arg default="$(find rusty_description)/launch/rusty_display.rviz" name="rvizconfig"/>
+  <arg default="$(find rusty)/config/rusty_nav.rviz" name="rvizconfig"/>
   <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/>
   
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo
index 69d684f..789880f 100644
--- a/rusty_description/urdf/rusty.gazebo
+++ b/rusty_description/urdf/rusty.gazebo
@@ -102,8 +102,8 @@
           <horizontal>
             <samples>720</samples>
             <resolution>1</resolution>
-            <min_angle>-3.14159</min_angle>
-            <max_angle>3.14159</max_angle>
+            <min_angle>-1.57</min_angle>
+            <max_angle>1.57</max_angle>
           </horizontal>
         </scan>
         <range>