diff --git a/docker-compose.yaml b/docker-compose.yaml
index cfce938..a794600 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -1,5 +1,4 @@
 version: "3.9"
-
 services:
   # Base image containing dependencies.
   base:
@@ -37,7 +36,6 @@ services:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-
   # Overlay image containing the project specific source code.
   overlay:
     extends: base
@@ -54,7 +52,6 @@ services:
           - linux/amd64
     volumes:
       - .:/repo
-
   # Additional dependencies for GUI applications
   guis:
     extends: overlay
@@ -69,59 +66,50 @@ services:
         platforms:
           - linux/arm64
           - linux/amd64
-    command: >
+    command: |
       /bin/bash
-
   # Robot State Publisher
   robot_state_publisher:
     extends: overlay
-    command: >
+    command: |
       ros2 launch cps_loki_bringup rsp.launch.py
-
   # Controller
   controller:
-    extends: overlay 
-    command: >
+    extends: overlay
+    command: |
       ros2 launch cps_loki_bringup robot_controller.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyACM0:/dev/ttyACM0
     restart: unless-stopped
-    
   # teleop
   teleop:
-    extends: overlay 
-    command: >
+    extends: overlay
+    command: |
       ros2 launch cps_loki_bringup robot_joy_teleop.launch.py
     devices:
       - /dev/input:/dev/input
     restart: unless-stopped
-  
-
   # scan filter node
   lidar_filter:
     extends: overlay
-    command: >
+    command: |
       ros2 launch cps_loki_bringup robot_scan_filter.launch.py
-    
   # lidar
   lidar:
     extends: overlay
     depends_on:
       - lidar_filter
-    command: >
+    command: |
       ros2 launch cps_loki_bringup robot_lidar.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
-      #- /dev/ttyUSB1:/dev/ttyUSB1
       - /dev/ttyACM0:/dev/ttyACM0
-
   # mapping
   mapping:
     extends: overlay
-    command: >
+    command: |
       ros2 launch cps_loki_bringup robot_mapper.launch.py
-
   # navigation
   navigation:
     extends: overlay
@@ -129,25 +117,26 @@ services:
     #  ros2 launch cbot_mini_bringup robot_navigation.launch.py
     #  map_subscribe_transient_local:=true
     command: >
-      ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_loki_bringup/config/nav2_params.yaml
+      ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml
+      use_sim_time:=False use_composition:=True
+      params_file:=/overlay_ws/src/cps_loki_bringup/config/nav2_params.yaml
     depends_on:
       - lidar
       - controller
       - teleop
-
   # camera
   cam:
     extends: overlay
-    command: >
+    command: |
       bash
-
   ################################################################################################################################
   # This section is mostly for supervision from PC                                                                               #
   ################################################################################################################################
   # rviz2
   rviz2:
     extends: guis
-    command: >
+    command: |
       rviz2
     # Needed to display graphical applications
     privileged: true
+networks: {}
diff --git a/maps/cps_half_new_posegraph.pgm b/maps/cps_half_new_posegraph.pgm
new file mode 100644
index 0000000..c3592b5
Binary files /dev/null and b/maps/cps_half_new_posegraph.pgm differ
diff --git a/maps/cps_half_new_posegraph.yaml b/maps/cps_half_new_posegraph.yaml
new file mode 100644
index 0000000..49b566e
--- /dev/null
+++ b/maps/cps_half_new_posegraph.yaml
@@ -0,0 +1,7 @@
+image: cps_half_new_posegraph.pgm
+mode: trinary
+resolution: 0.05
+origin: [5.07, -8.25, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file
diff --git a/maps/cps_half_new_ser.data b/maps/cps_half_new_ser.data
new file mode 100644
index 0000000..59bd417
Binary files /dev/null and b/maps/cps_half_new_ser.data differ
diff --git a/maps/cps_half_new_ser.posegraph b/maps/cps_half_new_ser.posegraph
new file mode 100644
index 0000000..10b22d1
Binary files /dev/null and b/maps/cps_half_new_ser.posegraph differ
diff --git a/sudo b/sudo
new file mode 100644
index 0000000..c0230c8
--- /dev/null
+++ b/sudo
@@ -0,0 +1 @@
+powersave tee /sys/devices/system/cpu/cpu0/cpufreq/scaling_governor /sys/devices/system/cpu/cpu1/cpufreq/scaling_governor