diff --git a/Projet/pioneer_description/launch/frontier_map.launch b/Projet/pioneer_description/launch/frontier_map.launch
new file mode 100644
index 0000000..54f3820
--- /dev/null
+++ b/Projet/pioneer_description/launch/frontier_map.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="rviz_name" default="frontier_map"/>
+  <arg name="model" default="$(find pioneer_description)/urdf/pioneer3dx.xacro"/>
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
+
+  <!-- send fake joint values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="FALSE"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find pioneer_description)/launch/$(arg rviz_name).rviz"/>
+
+</launch>
diff --git a/Projet/pioneer_description/launch/pioneer.rviz b/Projet/pioneer_description/launch/pioneer.rviz
new file mode 100644
index 0000000..0190951
--- /dev/null
+++ b/Projet/pioneer_description/launch/pioneer.rviz
@@ -0,0 +1,437 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Image1
+        - /PointCloud21
+        - /Camera1
+      Splitter Ratio: 0.5
+    Tree Height: 104
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: RPLidarLaserScan
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        OrbbecAstra_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_sonar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        center_hubcap:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        center_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        chassis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_sonar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_hub:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        pilier_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        plaque_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_hub:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        swivel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        top_plate:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0.493153721
+        Min Value: 0.427805096
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: RPLidarLaserScan
+      Position Transformer: XYZ
+      Queue Size: 1000
+      Selectable: true
+      Size (Pixels): 5
+      Size (m): 0.0299999993
+      Style: Squares
+      Topic: /base_scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: SLAM Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Global Costmap
+      Topic: /move_base/global_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Local Costmap
+      Topic: /move_base/local_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.100000001
+      Class: rviz/Pose
+      Color: 255; 25; 0
+      Enabled: true
+      Head Length: 0.300000012
+      Head Radius: 0.100000001
+      Name: Goal Pose
+      Shaft Length: 1
+      Shaft Radius: 0.0500000007
+      Shape: Arrow
+      Topic: /move_base/current_goal
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Lines
+      Line Width: 0.0299999993
+      Name: Planned Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /move_base/NavfnROS/plan
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 85; 0; 255
+      Enabled: true
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Lines
+      Line Width: 0.0299999993
+      Name: Local Planned Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /move_base/TrajectoryPlannerROS/local_plan
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 0; 127
+      Enabled: true
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Lines
+      Line Width: 0.0299999993
+      Name: Global Planned Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /move_base/TrajectoryPlannerROS/global_plan
+      Unreliable: false
+      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Frontier Cells
+      Topic: /frontier_cells
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: camera/depth/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: ""
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Flat Squares
+      Topic: camera/depth/point
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Camera
+      Enabled: true
+      Image Rendering: background and overlay
+      Image Topic: camera/color/image_raw
+      Name: Camera
+      Overlay Alpha: 0.5
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+      Visibility:
+        Frontier Cells: true
+        Global Costmap: true
+        Global Planned Path: true
+        Goal Pose: true
+        Grid: true
+        Image: true
+        Local Costmap: true
+        Local Planned Path: true
+        Planned Path: true
+        PointCloud2: true
+        RPLidarLaserScan: true
+        RobotModel: true
+        SLAM Map: true
+        Value: true
+      Zoom Factor: 1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 17.9755001
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 2.40261006
+        Y: -0.568551004
+        Z: -3.02844
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.594797194
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.01859093
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 744
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000f7000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000178000000160000000000000000fb0000000a0049006d0061006700650100000125000000a60000001600fffffffb0000000a0049006d00610067006501000001ad000000d90000000000000000fb0000000c00430061006d00650072006101000001d1000000b50000001600ffffff000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000037a000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d00650100000000000005150000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a50000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1301
+  X: 65
+  Y: 24