diff --git a/cfg/bucket_detector_workspace_jackal.yaml b/cfg/bucket_detector_workspace_jackal.yaml
deleted file mode 100644
index fac56d7..0000000
--- a/cfg/bucket_detector_workspace_jackal.yaml
+++ /dev/null
@@ -1,26 +0,0 @@
-#general params
-verbose: false
-camera_angle: -15.0
-update_key_using_det: true
-add_first_lan: false
-#keyframe
-keyframe_delta_trans: 0.5
-keyframe_delta_angle: 0.5
-keyframe_delta_time: 1.0
-#plane segmentation
-num_point_seg: 50
-norm_point_thres: 1000
-#data association related
-maha_dist_thres: 1.5
-use_maha_dist: false
-use_eq_dist: true
-eq_dist_thres: 1.5
-land_noise_low: 0.1 
-land_noise_high: 0.1
-#odom information cal
-use_const_inf_matrix: true
-const_stddev_x: 0.0667
-const_stddev_q: 0.001
-#graph slam related
-save_graph: false
-save_graph_path: /home/hriday/Desktop/semantic_graph.g2o
diff --git a/cfg/yolo_detector_rgbd_tum.yaml b/cfg/yolo_detector_rgbd_tum.yaml
deleted file mode 100644
index 2f71579..0000000
--- a/cfg/yolo_detector_rgbd_tum.yaml
+++ /dev/null
@@ -1,31 +0,0 @@
-#general params
-verbose: false
-camera_angle: 0.0
-update_key_using_det: false
-add_first_lan: false
-using_kitti: false
-use_rovio_odom: false
-use_rtab_map_odom: true
-#keyframe
-keyframe_delta_trans: 0.2
-keyframe_delta_angle: 0.2
-keyframe_delta_time: 0.5
-#plane segmentation
-num_point_seg: 100
-norm_point_thres: 2000
-planar_area: 0.15
-#data association related
-maha_dist_thres: 0.115
-use_maha_dist: true
-use_eq_dist: false
-eq_dist_thres: 0.5
-land_noise_low: 0.6
-land_noise_high: 0.6
-#odom information cal
-use_const_inf_matrix: true
-const_stddev_x: 0.00667
-const_stddev_q: 0.0001
-#graph slam related
-save_graph: false
-save_graph_path: /home/hriday/Desktop/semantic_graph.g2o
-compute_txt_for_ate: true
diff --git a/cfg/yolo_detector_rgbd_tum_f1_desk2.yaml b/cfg/yolo_detector_rgbd_tum_f1_desk2.yaml
deleted file mode 100644
index 4acdfc3..0000000
--- a/cfg/yolo_detector_rgbd_tum_f1_desk2.yaml
+++ /dev/null
@@ -1,30 +0,0 @@
-#general params
-verbose: true
-camera_angle: 0.0
-update_key_using_det: false
-add_first_lan: false
-using_kitti: false
-use_rovio_odom: false
-use_rtab_map_odom: true
-#keyframe
-keyframe_delta_trans: 0.5
-keyframe_delta_angle: 0.5
-keyframe_delta_time: 0.5
-#plane segmentation
-num_point_seg: 500
-norm_point_thres: 5000
-#data association related
-maha_dist_thres: 0.115
-use_maha_dist: true
-use_eq_dist: false
-eq_dist_thres: 0.8
-land_noise_low: 0.9 
-land_noise_high: 0.9
-#odom information cal
-use_const_inf_matrix: true
-const_stddev_x: 0.000667
-const_stddev_q: 0.00001
-#graph slam related
-save_graph: false
-save_graph_path: /home/hriday/Desktop/semantic_graph.g2o
-compute_txt_for_ate: true
diff --git a/cfg/yolo_detector_rgbd_tum_f2.yaml b/cfg/yolo_detector_rgbd_tum_f2.yaml
deleted file mode 100644
index 4acdfc3..0000000
--- a/cfg/yolo_detector_rgbd_tum_f2.yaml
+++ /dev/null
@@ -1,30 +0,0 @@
-#general params
-verbose: true
-camera_angle: 0.0
-update_key_using_det: false
-add_first_lan: false
-using_kitti: false
-use_rovio_odom: false
-use_rtab_map_odom: true
-#keyframe
-keyframe_delta_trans: 0.5
-keyframe_delta_angle: 0.5
-keyframe_delta_time: 0.5
-#plane segmentation
-num_point_seg: 500
-norm_point_thres: 5000
-#data association related
-maha_dist_thres: 0.115
-use_maha_dist: true
-use_eq_dist: false
-eq_dist_thres: 0.8
-land_noise_low: 0.9 
-land_noise_high: 0.9
-#odom information cal
-use_const_inf_matrix: true
-const_stddev_x: 0.000667
-const_stddev_q: 0.00001
-#graph slam related
-save_graph: false
-save_graph_path: /home/hriday/Desktop/semantic_graph.g2o
-compute_txt_for_ate: true
diff --git a/cfg/yolo_detector_rgbd_tum_f2_desk.yaml b/cfg/yolo_detector_rgbd_tum_f2_desk.yaml
deleted file mode 100644
index 846ed0f..0000000
--- a/cfg/yolo_detector_rgbd_tum_f2_desk.yaml
+++ /dev/null
@@ -1,31 +0,0 @@
-#general params
-verbose: false
-camera_angle: 0.0
-update_key_using_det: false
-add_first_lan: false
-using_kitti: false
-use_rovio_odom: false
-use_rtab_map_odom: true
-#keyframe
-keyframe_delta_trans: 0.1
-keyframe_delta_angle: 0.1
-keyframe_delta_time: 0.5
-#plane segmentation
-num_point_seg: 100
-norm_point_thres: 5000
-planar_area: 0.20
-#data association related
-maha_dist_thres: 0.35
-use_maha_dist: true
-use_eq_dist: false
-eq_dist_thres: 0.8
-land_noise_low: 0.3 
-land_noise_high: 0.3
-#odom information cal
-use_const_inf_matrix: true
-const_stddev_x: 0.00667
-const_stddev_q: 0.0001
-#graph slam related
-save_graph: false
-save_graph_path: /home/hriday/Desktop/semantic_graph.g2o
-compute_txt_for_ate: true
diff --git a/cfg/bucket_detector.yaml b/config/bucket_detector.yaml
similarity index 100%
rename from cfg/bucket_detector.yaml
rename to config/bucket_detector.yaml
diff --git a/cfg/bucket_detector_workspace.yaml b/config/bucket_detector_workspace.yaml
similarity index 100%
rename from cfg/bucket_detector_workspace.yaml
rename to config/bucket_detector_workspace.yaml
diff --git a/cfg/yolo_detector.yaml b/config/yolo_detector.yaml
similarity index 100%
rename from cfg/yolo_detector.yaml
rename to config/yolo_detector.yaml
diff --git a/cfg/yolo_detector_kitti.yaml b/config/yolo_detector_kitti.yaml
similarity index 100%
rename from cfg/yolo_detector_kitti.yaml
rename to config/yolo_detector_kitti.yaml
diff --git a/cfg/yolo_detector_rotonda.yaml b/config/yolo_detector_rotonda.yaml
similarity index 100%
rename from cfg/yolo_detector_rotonda.yaml
rename to config/yolo_detector_rotonda.yaml
diff --git a/launch/ps_slam_with_rovio_pose_yolo.launch b/launch/ps_slam_with_rovio_pose_yolo.launch
index cee9420..668f341 100755
--- a/launch/ps_slam_with_rovio_pose_yolo.launch
+++ b/launch/ps_slam_with_rovio_pose_yolo.launch
@@ -35,7 +35,7 @@
 
  <!--launching the semantic slam node -->	
 	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
- 		<rosparam file="$(find semantic_SLAM)/cfg/yolo_detector.yaml" command="load"/>			
+ 		<rosparam file="$(find semantic_SLAM)/config/yolo_detector.yaml" command="load"/>			
 	</node>
   
 </launch>
diff --git a/launch/ps_slam_with_rovio_pose_yolo_corridor.launch b/launch/ps_slam_with_rovio_pose_yolo_corridor.launch
index d0295a6..5450c3d 100755
--- a/launch/ps_slam_with_rovio_pose_yolo_corridor.launch
+++ b/launch/ps_slam_with_rovio_pose_yolo_corridor.launch
@@ -35,7 +35,7 @@
 
  <!--launching the semantic slam node -->	
 	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
- 		<rosparam file="$(find semantic_SLAM)/cfg/yolo_detector_rotonda.yaml" command="load"/>			
+ 		<rosparam file="$(find semantic_SLAM)/config/yolo_detector_rotonda.yaml" command="load"/>			
 	</node>
   
 </launch>
diff --git a/launch/ps_slam_with_snap_pose_bucket_det_lab_data.launch b/launch/ps_slam_with_snap_pose_bucket_det_lab_data.launch
index e79208d..e7dbb02 100755
--- a/launch/ps_slam_with_snap_pose_bucket_det_lab_data.launch
+++ b/launch/ps_slam_with_snap_pose_bucket_det_lab_data.launch
@@ -38,7 +38,7 @@
 	
   <!--launching the semantic slam node -->	
 	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
-	 <rosparam file="$(find semantic_SLAM)/cfg/bucket_detector_workspace.yaml" command="load"/>			
+	 <rosparam file="$(find semantic_SLAM)/config/bucket_detector_workspace.yaml" command="load"/>			
 	</node>
   
 </launch>
diff --git a/launch/ps_slam_with_snap_pose_bucket_det_lab_data_with_octomap.launch b/launch/ps_slam_with_snap_pose_bucket_det_lab_data_with_octomap.launch
index ccd171b..c235a5c 100755
--- a/launch/ps_slam_with_snap_pose_bucket_det_lab_data_with_octomap.launch
+++ b/launch/ps_slam_with_snap_pose_bucket_det_lab_data_with_octomap.launch
@@ -26,7 +26,7 @@
 			<remap from="depth_registered/image_rect" to="/camera/aligned_depth_to_color/image_rect"/>
   	</node>
 		
-  <!--shape color object detector 
+  <!--shape color object detector-->
 	<arg name="front_camera_image_topic_name" 										default="/camera/color/image_raw" />
   <arg name="object_recognized_front_camera_topic_name" 				default="/image_processed/object_recognized_front_camera" />
 	<arg name="config_file"																				default="$(find ShapeColor_ObjectDetection)/cfg/objectDetector_configFile.xml"/>
@@ -35,11 +35,11 @@
 				<param name="front_camera_image_topic_name"											value="$(arg front_camera_image_topic_name)" 									type="string"/>
 				<param name="object_recognized_front_camera_topic_name" 				value="$(arg object_recognized_front_camera_topic_name)" 			type="string"/>
 				<param name="config_file"																				value="$(arg config_file)"																		type="string"/>
-		</node>-->
+		</node>
 	
   <!--launching the semantic slam node -->	
 	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
-	 <rosparam file="$(find semantic_SLAM)/cfg/bucket_detector_workspace.yaml" command="load"/>			
+	 <rosparam file="$(find semantic_SLAM)/config/bucket_detector_workspace.yaml" command="load"/>			
 	</node>
   
 	<!-- ocotomap node -->