diff --git a/summit_xl_gazebo/launch/default.launch.py b/summit_xl_gazebo/launch/default.launch.py
index 644a087..1bf51b5 100644
--- a/summit_xl_gazebo/launch/default.launch.py
+++ b/summit_xl_gazebo/launch/default.launch.py
@@ -75,7 +75,7 @@ def read_params(ld : launch.LaunchDescription):
   ld.add_action(launch.actions.DeclareLaunchArgument(
     name='world_name',
     description='Name of the world to load',
-    default_value='empty',
+    default_value='demo',
   ))
 
   ld.add_action(launch.actions.DeclareLaunchArgument(
@@ -87,7 +87,7 @@ def read_params(ld : launch.LaunchDescription):
   ld.add_action(launch.actions.DeclareLaunchArgument(
         name='robot_xacro',
         description='Robot xacro file path for the robot model',
-        default_value=os.path.join(get_package_share_directory('summit_xl_description'), 'robots', 'summit_xls_icclab.urdf.xacro')
+        default_value=os.path.join(get_package_share_directory('summit_xl_description'), 'robots', 'summit_xls.urdf.xacro')
   ))
 
   ld.add_action(launch.actions.DeclareLaunchArgument(
diff --git a/summit_xl_gazebo/maps/demo.pgm b/summit_xl_gazebo/maps/demo.pgm
new file mode 100644
index 0000000..d41758d
Binary files /dev/null and b/summit_xl_gazebo/maps/demo.pgm differ
diff --git a/summit_xl_gazebo/maps/demo.yaml b/summit_xl_gazebo/maps/demo.yaml
new file mode 100644
index 0000000..fc4c3bf
--- /dev/null
+++ b/summit_xl_gazebo/maps/demo.yaml
@@ -0,0 +1,7 @@
+image: demo.pgm
+mode: trinary
+resolution: 0.05
+origin: [-7.1, -6.95, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file
diff --git a/summit_xl_gazebo/maps/turtlebot3_house.pgm b/summit_xl_gazebo/maps/turtlebot3_house.pgm
index a60df96..cf6c0f4 100644
Binary files a/summit_xl_gazebo/maps/turtlebot3_house.pgm and b/summit_xl_gazebo/maps/turtlebot3_house.pgm differ