diff --git a/ast_move_base/CMakeLists.txt b/ast_move_base/CMakeLists.txt
deleted file mode 100644
index e4bd55d..0000000
--- a/ast_move_base/CMakeLists.txt
+++ /dev/null
@@ -1,199 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(ast_move_base)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  geometry_msg
-  roscpp
-  rospy
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES ast_move_base
-#  CATKIN_DEPENDS geometry_msg roscpp rospy
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/ast_move_base.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/ast_move_base_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_ast_move_base.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/ast_move_base/launch/move_base.launch b/ast_move_base/launch/move_base.launch
deleted file mode 100644
index c05fd64..0000000
--- a/ast_move_base/launch/move_base.launch
+++ /dev/null
@@ -1,39 +0,0 @@
-
-
-
-<launch>
-<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
-<arg name="cmd_vel_topic" default="/cmd_vel" />
-<arg name="odom_topic" default="odom" />
-
-<node pkg="move_base"
-      type="move_base"
-      respawn="false"
-      name="move_base"
-      output="screen"
-      launch-prefix="xterm -e">
-    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
-
-    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
-    <rosparam file="$(find ast_move_base)/param/move_base.yaml" command="load" />
-
-    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find ast_move_base)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find ast_move_base)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
-
-    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find ast_move_base)/param/local_costmap_params.yaml" command="load" />
-
-    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find ast_move_base)/param/global_costmap_params.yaml" command="load" />
-
-
-    <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
-    <rosparam file="$(find ast_move_base)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
-
-    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
-    <remap from="odom" to="$(arg odom_topic)"/>
-</node>
-
-</launch>
diff --git a/ast_move_base/package.xml b/ast_move_base/package.xml
deleted file mode 100644
index 545d896..0000000
--- a/ast_move_base/package.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>ast_move_base</name>
-  <version>0.0.0</version>
-  <description>The ast_move_base package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="user@todo.todo">user</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/ast_move_base</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msg</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_export_depend>geometry_msg</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <exec_depend>geometry_msg</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>
diff --git a/ast_move_base/param/costmap_common_params_waffle_pi.yaml b/ast_move_base/param/costmap_common_params_waffle_pi.yaml
deleted file mode 100644
index 446b322..0000000
--- a/ast_move_base/param/costmap_common_params_waffle_pi.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-#obstacle_range: 3.0
-#raytrace_range: 3.5
-
-#footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
-#robot_radius: 0.17
-
-#inflation_radius: 1.0
-inflation_radius: 3.0
-#cost_scaling_factor: 3.0
-
-#map_type: costmap
-#observation_sources: scan
-#scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
diff --git a/ast_move_base/param/dwa_local_planner_params_waffle_pi.yaml b/ast_move_base/param/dwa_local_planner_params_waffle_pi.yaml
deleted file mode 100644
index b8cac36..0000000
--- a/ast_move_base/param/dwa_local_planner_params_waffle_pi.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-DWAPlannerROS:
-
-# Robot Configuration Parameters
-#  max_vel_x: 0.26
-#  min_vel_x: -0.26
-
-#  max_vel_y: 0.0
-#  min_vel_y: 0.0
-
-# The velocity when robot is moving in a straight line
-#  max_trans_vel:  0.26
-#  min_trans_vel:  0.13
-
-#  max_rot_vel: 1.82
-#  min_rot_vel: 0.9
-
-  acc_lim_x: 3.0
-#  acc_lim_y: 0.0
-  acc_lim_theta: 6.0
-  prune_plan: true # also with decrease of global planning frequency
-# Goal Tolerance Parametes
-  xy_goal_tolerance: 0.2
-  yaw_goal_tolerance: 0.4
-#  latch_xy_goal_tolerance: false
-
-
-# Forward Simulation Parameters
-  sim_time: 3.0
-  vx_samples: 15
-  vy_samples: 0
-  vtheta_samples: 15
-#  controller_frequency: 10.0
-
-# Trajectory Scoring Parameters
-#  path_distance_bias: 32.0
-#  goal_distance_bias: 20.0
-  occdist_scale: 0.01
-  forward_point_distance: 0.2
-#  stop_time_buffer: 0.2
-  scaling_speed: 0.1 # increase probability of successive rotation
-#  max_scaling_factor: 0.2
-
-# Oscillation Prevention Parameters
-#  oscillation_reset_dist: 0.05
-
-# Debugging
-#  publish_traj_pc : true
-#  publish_cost_grid_pc: true
-
-# Performance
-  sim_granularity: 0.1
-  angular_sim_granularity: 0.3
\ No newline at end of file
diff --git a/ast_move_base/param/global_costmap_params.yaml b/ast_move_base/param/global_costmap_params.yaml
deleted file mode 100644
index e731444..0000000
--- a/ast_move_base/param/global_costmap_params.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-global_costmap:
-#  global_frame: /map
-#  robot_base_frame: /base_footprint
-
-  update_frequency: 2.0
-#  update_frequency: 5.0
-#  publish_frequency: 10.0
-#  transform_tolerance: 0.5
-
-#  static_map: true
-  resolution: 1.3 # FIXME find out why does not working
-  footprint_padding: 0.10 # does not allow to plan within too narrow spaces
- 
diff --git a/ast_move_base/param/local_costmap_params.yaml b/ast_move_base/param/local_costmap_params.yaml
deleted file mode 100644
index 1156bc6..0000000
--- a/ast_move_base/param/local_costmap_params.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-local_costmap:
-#  global_frame: /odom
-#  robot_base_frame: /base_footprint
-
-  update_frequency: 10.0
-#  update_frequency: 5.0
-#  publish_frequency: 10.0
-#  transform_tolerance: 0.5
-
-#  static_map: false
-#  rolling_window: true
-#  width: 3
-#  height: 3
-  resolution: 0.05
-  
diff --git a/ast_move_base/param/move_base.yaml b/ast_move_base/param/move_base.yaml
deleted file mode 100644
index b1a9efa..0000000
--- a/ast_move_base/param/move_base.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-#shutdown_costmaps: false
-#controller_frequency: 10.0
-#controller_frequency: 5.0
-#planner_patience: 5.0
-#planner_patience: 15.0
-#controller_patience: 15.0
-#conservative_reset_dist: 3.0
-planner_frequency: 2.0
-oscillation_timeout: 3.0
-oscillation_distance: 0.1
-
-
diff --git a/ast_stack/launch/combined_bringup.launch b/ast_stack/launch/combined_bringup.launch
index 0a51187..04531aa 100644
--- a/ast_stack/launch/combined_bringup.launch
+++ b/ast_stack/launch/combined_bringup.launch
@@ -1,8 +1,6 @@
 <launch>
     <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
 
-
-
     <arg name="cmd_vel_topic" default="/cmd_vel" />
     <arg name="odom_topic" default="odom" />
 
@@ -19,7 +17,6 @@
     <!--<arg name="world_name" default="turtlebot3_house"/>-->
     <arg name="world_name" default="turtlebot3_stage_3"/>
 
-
     <arg name="x_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>
     <arg name="y_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>
     <arg name="z_pos" default="0.0" unless="$(eval world_name == 'turtlebot3_house')"/>
@@ -72,7 +69,7 @@
 
 
     <!-- move_base -->
-    <include file="$(find ast_move_base)/launch/move_base.launch">
+    <include file="$(find ss_turtle3_move_base)/launch/move_base.launch">
         <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
         <arg name="cmd_vel_topic" default="/cmd_vel" />
         <arg name="odom_topic" default="odom" />
@@ -84,5 +81,4 @@
     </include>
     
 
-
 </launch>
diff --git a/ast_stack/launch/combined_bringup_p_worlds.launch b/ast_stack/launch/combined_bringup_p_worlds.launch
index 19721f3..ad87579 100644
--- a/ast_stack/launch/combined_bringup_p_worlds.launch
+++ b/ast_stack/launch/combined_bringup_p_worlds.launch
@@ -73,7 +73,7 @@
 
 
     <!-- move_base -->
-    <include file="$(find ast_move_base)/launch/move_base.launch">
+    <include file="$(find ss_turtle3_move_base)/launch/move_base.launch">
         <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
         <arg name="cmd_vel_topic" default="/cmd_vel" />
         <arg name="odom_topic" default="odom" />
diff --git a/ast_stack/launch/robot_launch_manual_explore_PC.launch b/ast_stack/launch/robot_launch_manual_explore_PC.launch
index be83adc..4a3271f 100644
--- a/ast_stack/launch/robot_launch_manual_explore_PC.launch
+++ b/ast_stack/launch/robot_launch_manual_explore_PC.launch
@@ -17,7 +17,7 @@
 
 
     <!-- move_base -->
-    <include file="$(find ast_move_base)/launch/move_base.launch">
+    <include file="$(find ss_turtle3_move_base)/launch/move_base.launch">
         <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
         <arg name="cmd_vel_topic" default="/cmd_vel" />
         <arg name="odom_topic" default="odom" />
diff --git a/ast_stack/launch/tuning_table.launch b/ast_stack/launch/tuning_table.launch
index 85d4cda..b926fb7 100644
--- a/ast_stack/launch/tuning_table.launch
+++ b/ast_stack/launch/tuning_table.launch
@@ -72,7 +72,7 @@
 
 
     <!-- move_base -->
-    <include file="$(find ast_move_base)/launch/move_base.launch">
+    <include file="$(find ss_turtle3_move_base)/launch/move_base.launch">
         <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
         <arg name="cmd_vel_topic" default="/cmd_vel" />
         <arg name="odom_topic" default="odom" />
diff --git a/ast_stack/package.xml b/ast_stack/package.xml
index 20e72cd..ae3e102 100644
--- a/ast_stack/package.xml
+++ b/ast_stack/package.xml
@@ -53,7 +53,7 @@
 
   <!--<depend>turtlebot3_msgs</depend>-->
   <!--<depend>turtlebot3_navigation</depend>-->
-  <depend>explore_lite</depend> <!--one from m-explore package-->
+  <depend>ast_explore_lite</depend> <!--one from m-explore package-->
 
 
   <!-- Use build_depend for packages you need at compile time: -->
diff --git a/docker/turtlebot3.rosinstall b/docker/turtlebot3.rosinstall
index a22c152..309ce4c 100644
--- a/docker/turtlebot3.rosinstall
+++ b/docker/turtlebot3.rosinstall
@@ -17,3 +17,8 @@
     uri: https://github.com/SoftServeSAG/ActiveSlamTest.git
     version: kinetic-devel
     local-name: activeslam
+
+- git:
+    uri: https://github.com/SoftServeSAG/ss_tutrle3.git
+    version: kinetic-devel
+    local-name: ss_turtle3_move_base