diff --git a/autonav_ws/src/autonav_launch/launch/simulation.xml b/autonav_ws/src/autonav_launch/launch/simulation.xml
index ae50a81c..fb19aca4 100644
--- a/autonav_ws/src/autonav_launch/launch/simulation.xml
+++ b/autonav_ws/src/autonav_launch/launch/simulation.xml
@@ -1,18 +1,22 @@
 <launch>
     <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml" />
-    <node pkg="scr_controller" exec="core">
-        <param name="mode" value="1" /> 
-        <param name="state" value="1" /> 
-        <param name="mobility" value="true" /> 
+    <node pkg="scr_controller" exec="core" />
+    <node pkg="scr_logging" exec="logging">
+        <param name="log_to_console" value="true" />
     </node>
-    <node pkg="autonav_nav" exec="astar.py" />
-    <node pkg="autonav_nav" exec="path_resolver.py" />
+    <node pkg="scr_configuration" exec="config">
+        <param name="preset" value="simulation" />
+    </node>
+    <node pkg="autonav_vision" exec="transformations.py" />
+    <node pkg="autonav_vision" exec="expandify" />
     <node pkg="autonav_filters" exec="filters.py">
         <param name="latitude_length" value="111086.2" />
         <param name="longitude_length" value="81978.2" />
-        <param name="default_type" value="1" />
+        <param name="default_filter" value="0" />
     </node>
-    <node pkg="autonav_vision" exec="transformations.py" />
-    <node pkg="autonav_vision" exec="expandify" />
-    <node pkg="autonav_display" exec="display.py" />
+    <node pkg="autonav_nav" exec="astar.py">
+        <param name="latitude_length" value="111086.2" />
+        <param name="longitude_length" value="81978.2" />
+    </node>
+    <node pkg="autonav_nav" exec="path_resolver.py" />
 </launch>
\ No newline at end of file
diff --git a/autonav_ws/src/autonav_nav/CMakeLists.txt b/autonav_ws/src/autonav_nav/CMakeLists.txt
index 19eb827b..a6539ba8 100644
--- a/autonav_ws/src/autonav_nav/CMakeLists.txt
+++ b/autonav_ws/src/autonav_nav/CMakeLists.txt
@@ -36,7 +36,6 @@ ament_auto_find_build_dependencies()
 # C++
 add_executable(astar src/astar_node.cpp src/astar.cpp)
 ament_target_dependencies(astar rclcpp sensor_msgs autonav_msgs nav_msgs cv_bridge image_transport scr)
-# ament_target_dependencies(astar rclcpp sensor_msgs autonav_msgs nav_msgs cv_bridge image_transport scr)
 
 install(TARGETS
   astar
diff --git a/autonav_ws/src/autonav_nav/include/autonav_nav/astar.h b/autonav_ws/src/autonav_nav/include/autonav_nav/astar.h
index 31130ff6..5dd295ad 100644
--- a/autonav_ws/src/autonav_nav/include/autonav_nav/astar.h
+++ b/autonav_ws/src/autonav_nav/include/autonav_nav/astar.h
@@ -6,11 +6,10 @@
 #include <string>
 #include <iostream>
 #include <chrono>
-#include <ctime> 
+#include <ctime>
 #include <fstream>
 #include <unordered_map>
 
-#include "rclcpp/rclcpp.hpp"
 #include "scr/node.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "nav_msgs/msg/map_meta_data.hpp"