diff --git a/Projet/pioneer_2dnav/README.md b/Projet/pioneer_2dnav/README.md
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+# pioneer_2dnav
+Pioneer3dx 2D navigation configuration and launch files
+
+Use in combination with nav_bundle and pioneer_gazebo_ros for gazebo simulation
+
+Use in combination with nav_bundle and pioneer_test for hardware implementation
+
+NOTE: If using in combination with ESTOP package (https://github.com/nrjl/rqt_estop), uncomment line 9 to send cmd_vel via cmd_vel_estop
diff --git a/Projet/pioneer_2dnav/local_costmap_params.yaml b/Projet/pioneer_2dnav/local_costmap_params.yaml
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+++ b/Projet/pioneer_2dnav/local_costmap_params.yaml
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+local_costmap:
+  global_frame: odom
+  robot_base_frame: base_link
+  update_frequency: 5.0
+  publish_frequency: 5.0
+  static_map: false
+  rolling_window: true
+  width: 3.0
+  height: 3.0
+  resolution: 0.05
+  publish_cost_grid: true
+  inflation_radius: 2.0
+  cost_scaling_factor: 5.0
diff --git a/Projet/pioneer_2dnav/move_base.launch b/Projet/pioneer_2dnav/move_base.launch
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+++ b/Projet/pioneer_2dnav/move_base.launch
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+<launch>
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find pioneer_2dnav)/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find pioneer_2dnav)/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find pioneer_2dnav)/base_local_planner_params.yaml" command="load" />
+    <!-- NOTE: Use move_base_global.launch for globally qualified map topic -->
+    
+  	<!-- START: Use with estop -->
+<!--	  <remap from="cmd_vel" to="cmd_vel_estop"/>-->
+    <!-- END: Use with estop -->
+  </node>
+</launch>
diff --git a/Projet/pioneer_2dnav/move_base_global.launch b/Projet/pioneer_2dnav/move_base_global.launch
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index 0000000..a5938b6
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+++ b/Projet/pioneer_2dnav/move_base_global.launch
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+<launch>
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find pioneer_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find pioneer_2dnav)/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find pioneer_2dnav)/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find pioneer_2dnav)/base_local_planner_params.yaml" command="load" />
+
+    <remap from="map" to="/map" />
+    
+  	<!-- START: Use with estop -->
+<!--	  <remap from="cmd_vel" to="cmd_vel_estop"/>-->
+    <!-- END: Use with estop -->
+  </node>
+</launch>
diff --git a/Projet/pioneer_2dnav/package.xml b/Projet/pioneer_2dnav/package.xml
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+++ b/Projet/pioneer_2dnav/package.xml
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+<?xml version="1.0"?>
+<package>
+  <name>pioneer_2dnav</name>
+  <version>0.0.0</version>
+  <description>The pioneer_2dnav package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="jchu2041@todo.todo">jchu2041</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 mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/pioneer_2dnav</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, 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 build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>gmapping</build_depend>
+  <build_depend>move_base</build_depend>
+  <build_depend>rosaria</build_depend>
+  <run_depend>gmapping</run_depend>
+  <run_depend>move_base</run_depend>
+  <run_depend>rosaria</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
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