diff --git a/include/ps_graph_slam/semantic_graph_slam.h b/include/ps_graph_slam/semantic_graph_slam.h
index e208daa..dcd3241 100644
--- a/include/ps_graph_slam/semantic_graph_slam.h
+++ b/include/ps_graph_slam/semantic_graph_slam.h
@@ -18,10 +18,6 @@
 // segmented pointcloud acc to detection
 #include "planar_segmentation/point_cloud_segmentation.h"
 
-// semantic mapping
-#include "ps_graph_slam/map_cloud.h"
-#include "ps_graph_slam/mapping.h"
-
 class semantic_graph_slam {
 public:
   semantic_graph_slam();
@@ -37,13 +33,6 @@ class semantic_graph_slam {
 private:
   std::unique_ptr<point_cloud_segmentation> pc_seg_obj_;
   std::unique_ptr<data_association> data_ass_obj_;
-  // mapping* semantic_mapping_obj_;
-  // std::thread* semantic_mapping_th_;
-  // std::thread* semantic_mapping_opt_th_;
-
-public:
-  // mapping related params
-  std::vector<map_cloud> get3DMap();
 
 private:
   bool empty_keyframe_queue();
diff --git a/include/semantic_graph_slam_ros.h b/include/semantic_graph_slam_ros.h
index 69acfc0..22aa46d 100644
--- a/include/semantic_graph_slam_ros.h
+++ b/include/semantic_graph_slam_ros.h
@@ -64,8 +64,6 @@
 
 #include "ps_graph_slam/semantic_graph_slam.h"
 
-#include "ps_graph_slam/map_cloud.h"
-
 class semantic_graph_slam_ros {
 
 public:
diff --git a/launch/octomap.launch b/launch/octomap.launch
deleted file mode 100755
index 8464b5f..0000000
--- a/launch/octomap.launch
+++ /dev/null
@@ -1,19 +0,0 @@
-<!--launch file -->
-<launch>
-	<!-- ocotomap node -->
-	<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
-    <param name="resolution" value="0.05" />
-    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
-    <param name="frame_id" type="string" value="map" />
-    <param name="base_frame_id" type="string" value="base_link_stabilized" />
-    <!-- maximum range to integrate (speedup!) -->
-    <param name="sensor_model/max_range" value="10.0" />
-    <param name="pointcloud_min_z" value="-1.0" />
-    <param name="pointcloud_max_z" value="5.0" />
-    <!-- data source to integrate (PointCloud2) -->
-    <remap from="cloud_in" to="/depth_registered/points" />
-    <param name="filter_ground" value="false" />
-</node>
-
-</launch>
-
diff --git a/launch/ps_slam_with_snap_pose_bucket_det_drone_data.launch b/launch/ps_slam_with_snap_pose_bucket_det_drone_data.launch
deleted file mode 100755
index a1f2a81..0000000
--- a/launch/ps_slam_with_snap_pose_bucket_det_drone_data.launch
+++ /dev/null
@@ -1,44 +0,0 @@
-<!--launch file -->
-<launch>
-
-	<arg name="bagfile" default="/media/hriday/0F2F8B1E48317A85/home/Documents/PhD/Rosbags/Semantic_SLAM/semantic_slam/ACL/real_flights/manual_flights/snap_tests/Saturday-18-5-19/5_rounds_fast_height_1.5_good.bag"/> 
-
-	<!-- Play the bagfile -->
-  <node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile)" />
-
- <!-- rectify color image-->
-  <node name="image_proc" pkg="image_proc" type="image_proc" ns="camera/color"/>
-
-  <!-- This nodelet is for rectifying the depth image-->
-  <node pkg="nodelet" type="nodelet" name="depth_rectifier_manager" args="manager" output="screen"/>
-   
-    <node pkg="nodelet" type="nodelet" name="rectify_mono" args="load image_proc/rectify depth_rectifier_manager" output="screen" >
-       <remap from="image_mono" to="/camera/aligned_depth_to_color/image_raw"/> 
-       <remap from="image_rect" to="/camera/aligned_depth_to_color/image_rect"/>
-    </node>
-		
-    <!--This nodelet is for converting the depth image to pointcloud data-->
-  	<node pkg="nodelet" type="nodelet" name="depth_manager" args="manager" output="screen"/>
- 		<node pkg="nodelet" type="nodelet" name="point_cloud_xyzrgb" args="load depth_image_proc/point_cloud_xyzrgb depth_manager" output="screen">
-			<remap from="rgb/camera_info"             to="/camera/color/camera_info"/> 
-  		<remap from="rgb/image_rect_color"        to="/camera/color/image_rect_color"/> 
-			<remap from="depth_registered/image_rect" to="/camera/aligned_depth_to_color/image_rect"/>
-  	</node>
-		
-  <!--shape color object detector -->
-	<arg name="front_camera_image_topic_name" 										default="/camera/color/image_raw" />
-  <arg name="object_recognized_front_camera_topic_name" 				default="/image_processed/object_recognized_front_camera" />
-	<arg name="config_file"																				default="$(find ShapeColor_ObjectDetection)/cfg/objectDetector_configFile.xml"/>
-    
-		<node name="ShapeColor_ObjectDetection" pkg="ShapeColor_ObjectDetection" type="ObjectDetection_Node" output="screen" respawn="true">
-				<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="$(arg config_file)"																		type="string"/>
-		</node>
-
-  <!--launching the semantic slam node -->	
-	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
-	 <rosparam file="$(find semantic_SLAM)/cfg/bucket_detector.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 1b667c5..ccd171b 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
@@ -2,7 +2,7 @@
 <launch>
 		
   <param name="use_sim_time" value="true" />
-	<!--<arg name="bagfile" default="/media/hriday/0F2F8B1E48317A85/home/Documents/PhD/Rosbags/Semantic_SLAM/semantic_slam/ACL/lab/with_snap_pose/entire_lab/entire_lab_3_rounds.bag"/>-->
+	<arg name="bagfile" default="/media/hriday/0F2F8B1E48317A85/home/Documents/PhD/Rosbags/Semantic_SLAM/semantic_slam/ACL/lab/with_snap_pose/entire_lab/entire_lab_3_rounds.bag"/>
 
 	<!-- Play the bagfile -->
   <node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile)" />
@@ -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="$(find ShapeColor_ObjectDetection)/cfg/objectDetector_configFile.xml"/>
@@ -35,7 +35,7 @@
 				<param name="front_camera_image_topic_name"											value="$(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">
diff --git a/launch/ps_slam_with_yolo_TUM.launch b/launch/ps_slam_with_yolo_TUM.launch
deleted file mode 100755
index ff2a96e..0000000
--- a/launch/ps_slam_with_yolo_TUM.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<!--launch file -->
-<launch>
-	
- <!-- rectify color image-->
-  <node name="image_proc" pkg="image_proc" type="image_proc" ns="camera/rgb">
-	  <remap from="/camera/rgb/image_raw"         to="/camera/rgb/image_color"/> 			
-	</node>
-
-  <!-- This nodelet is for rectifying the depth image-->
-  <node pkg="nodelet" type="nodelet" name="depth_rectifier_manager" args="manager" output="screen"/>
-   
-    <node pkg="nodelet" type="nodelet" name="rectify_mono" args="load image_proc/rectify depth_rectifier_manager" output="screen" >
-       <remap from="image_mono" to="/camera/depth/image"/> 
-       <remap from="image_rect" to="/camera/depth/image_rect"/>
-    </node>
-		
-    <!--This nodelet is for converting the depth image to pointcloud data-->
-  	<node pkg="nodelet" type="nodelet" name="depth_manager" args="manager" output="screen"/>
- 		<node pkg="nodelet" type="nodelet" name="point_cloud_xyzrgb" args="load depth_image_proc/point_cloud_xyzrgb depth_manager" output="screen">
-			<remap from="rgb/camera_info"             to="/camera/rgb/camera_info"/> 
-  		<remap from="rgb/image_rect_color"        to="/camera/rgb/image_rect_color"/> 
-			<remap from="depth_registered/image_rect" to="/camera/depth/image_rect"/>
-  	</node>
-		
-  <!--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="$(find ShapeColor_ObjectDetection)/cfg/objectDetector_configFile.xml"/>
-    
-		<node name="ShapeColor_ObjectDetection" pkg="ShapeColor_ObjectDetection" type="ObjectDetection_Node" output="screen" respawn="true">
-				<param name="front_camera_image_topic_name"											value="$(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> -->
-	
-  <!--launching the semantic slam node -->	
-	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
-	 <rosparam file="$(find semantic_SLAM)/cfg/yolo_detector_rgbd_tum.yaml" command="load"/>
-	 <remap from="/rovio/odometry"             to="/rtabmap/odom"/> 			
-	</node>
-  
-</launch>
diff --git a/launch/ps_slam_with_yolo_TUM_f1_desk2.launch b/launch/ps_slam_with_yolo_TUM_f1_desk2.launch
deleted file mode 100755
index 5268335..0000000
--- a/launch/ps_slam_with_yolo_TUM_f1_desk2.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<!--launch file -->
-<launch>
-	
- <!-- rectify color image-->
-  <node name="image_proc" pkg="image_proc" type="image_proc" ns="camera/rgb">
-	  <remap from="/camera/rgb/image_raw"         to="/camera/rgb/image_color"/> 			
-	</node>
-
-  <!-- This nodelet is for rectifying the depth image-->
-  <node pkg="nodelet" type="nodelet" name="depth_rectifier_manager" args="manager" output="screen"/>
-   
-    <node pkg="nodelet" type="nodelet" name="rectify_mono" args="load image_proc/rectify depth_rectifier_manager" output="screen" >
-       <remap from="image_mono" to="/camera/depth/image"/> 
-       <remap from="image_rect" to="/camera/depth/image_rect"/>
-    </node>
-		
-    <!--This nodelet is for converting the depth image to pointcloud data-->
-  	<node pkg="nodelet" type="nodelet" name="depth_manager" args="manager" output="screen"/>
- 		<node pkg="nodelet" type="nodelet" name="point_cloud_xyzrgb" args="load depth_image_proc/point_cloud_xyzrgb depth_manager" output="screen">
-			<remap from="rgb/camera_info"             to="/camera/rgb/camera_info"/> 
-  		<remap from="rgb/image_rect_color"        to="/camera/rgb/image_rect_color"/> 
-			<remap from="depth_registered/image_rect" to="/camera/depth/image_rect"/>
-  	</node>
-		
-  <!--shape color object detector 
-	<arg name="front_camera_image_topic_name" 										default="/camera/color/image_raw" />
-  <arg name="object_recognized_front_camera_topic_name" 				default="/image_processed/object_recognized_front_camera" />
-	<arg name="config_file"																				default="$(find ShapeColor_ObjectDetection)/cfg/objectDetector_configFile.xml"/>
-    
-		<node name="ShapeColor_ObjectDetection" pkg="ShapeColor_ObjectDetection" type="ObjectDetection_Node" output="screen" respawn="true">
-				<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="$(arg config_file)"																		type="string"/>
-		</node> -->
-	
-  <!--launching the semantic slam node -->	
-	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
-	 <rosparam file="$(find semantic_SLAM)/cfg/yolo_detector_rgbd_tum_f1_desk2.yaml" command="load"/>
-	 <remap from="/rovio/odometry"             to="/rtabmap/odom"/> 			
-	</node>
-  
-</launch>
diff --git a/launch/ps_slam_with_yolo_TUM_f2.launch b/launch/ps_slam_with_yolo_TUM_f2.launch
deleted file mode 100755
index e647d8f..0000000
--- a/launch/ps_slam_with_yolo_TUM_f2.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<!--launch file -->
-<launch>
-	
- <!-- rectify color image-->
-  <node name="image_proc" pkg="image_proc" type="image_proc" ns="camera/rgb">
-	  <remap from="/camera/rgb/image_raw"         to="/camera/rgb/image_color"/> 			
-	</node>
-
-  <!-- This nodelet is for rectifying the depth image-->
-  <node pkg="nodelet" type="nodelet" name="depth_rectifier_manager" args="manager" output="screen"/>
-   
-    <node pkg="nodelet" type="nodelet" name="rectify_mono" args="load image_proc/rectify depth_rectifier_manager" output="screen" >
-       <remap from="image_mono" to="/camera/depth/image"/> 
-       <remap from="image_rect" to="/camera/depth/image_rect"/>
-    </node>
-		
-    <!--This nodelet is for converting the depth image to pointcloud data-->
-  	<node pkg="nodelet" type="nodelet" name="depth_manager" args="manager" output="screen"/>
- 		<node pkg="nodelet" type="nodelet" name="point_cloud_xyzrgb" args="load depth_image_proc/point_cloud_xyzrgb depth_manager" output="screen">
-			<remap from="rgb/camera_info"             to="/camera/rgb/camera_info"/> 
-  		<remap from="rgb/image_rect_color"        to="/camera/rgb/image_rect_color"/> 
-			<remap from="depth_registered/image_rect" to="/camera/depth/image_rect"/>
-  	</node>
-		
-  <!--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="$(find ShapeColor_ObjectDetection)/cfg/objectDetector_configFile.xml"/>
-    
-		<node name="ShapeColor_ObjectDetection" pkg="ShapeColor_ObjectDetection" type="ObjectDetection_Node" output="screen" respawn="true">
-				<param name="front_camera_image_topic_name"											value="$(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> -->
-	
-  <!--launching the semantic slam node -->	
-	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
-	 <rosparam file="$(find semantic_SLAM)/cfg/yolo_detector_rgbd_tum_f2.yaml" command="load"/>
-	 <remap from="/rovio/odometry"             to="/rtabmap/odom"/> 			
-	</node>
-  
-</launch>
diff --git a/launch/ps_slam_with_yolo_TUM_f2_desk.launch b/launch/ps_slam_with_yolo_TUM_f2_desk.launch
deleted file mode 100755
index 1af0b38..0000000
--- a/launch/ps_slam_with_yolo_TUM_f2_desk.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<!--launch file -->
-<launch>
-	
- <!-- rectify color image-->
-  <node name="image_proc" pkg="image_proc" type="image_proc" ns="camera/rgb">
-	  <remap from="/camera/rgb/image_raw"         to="/camera/rgb/image_color"/> 			
-	</node>
-
-  <!-- This nodelet is for rectifying the depth image-->
-  <node pkg="nodelet" type="nodelet" name="depth_rectifier_manager" args="manager" output="screen"/>
-   
-    <node pkg="nodelet" type="nodelet" name="rectify_mono" args="load image_proc/rectify depth_rectifier_manager" output="screen" >
-       <remap from="image_mono" to="/camera/depth/image"/> 
-       <remap from="image_rect" to="/camera/depth/image_rect"/>
-    </node>
-		
-    <!--This nodelet is for converting the depth image to pointcloud data-->
-  	<node pkg="nodelet" type="nodelet" name="depth_manager" args="manager" output="screen"/>
- 		<node pkg="nodelet" type="nodelet" name="point_cloud_xyzrgb" args="load depth_image_proc/point_cloud_xyzrgb depth_manager" output="screen">
-			<remap from="rgb/camera_info"             to="/camera/rgb/camera_info"/> 
-  		<remap from="rgb/image_rect_color"        to="/camera/rgb/image_rect_color"/> 
-			<remap from="depth_registered/image_rect" to="/camera/depth/image_rect"/>
-  	</node>
-		
-  <!--shape color object detector 
-	<arg name="front_camera_image_topic_name" 										default="/camera/color/image_raw" />
-  <arg name="object_recognized_front_camera_topic_name" 				default="/image_processed/object_recognized_front_camera" />
-	<arg name="config_file"																				default="$(find ShapeColor_ObjectDetection)/cfg/objectDetector_configFile.xml"/>
-    
-		<node name="ShapeColor_ObjectDetection" pkg="ShapeColor_ObjectDetection" type="ObjectDetection_Node" output="screen" respawn="true">
-				<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="$(arg config_file)"																		type="string"/>
-		</node> -->
-	
-  <!--launching the semantic slam node -->	
-	<node name="semantic_graph_slam_node" pkg="semantic_SLAM" type="semantic_graph_SLAM_node" output="screen">
-	 <rosparam file="$(find semantic_SLAM)/cfg/yolo_detector_rgbd_tum_f2_desk.yaml" command="load"/>
-	 <remap from="/rovio/odometry"             to="/rtabmap/odom"/> 			
-	</node>
-  
-</launch>
diff --git a/src/ps_graph_slam/semantic_graph_slam.cpp b/src/ps_graph_slam/semantic_graph_slam.cpp
index 4618002..542e268 100644
--- a/src/ps_graph_slam/semantic_graph_slam.cpp
+++ b/src/ps_graph_slam/semantic_graph_slam.cpp
@@ -389,13 +389,6 @@ void semantic_graph_slam::getDetectedObjectsPose(
   seg_obj_vec = seg_obj_vec_;
 }
 
-std::vector<map_cloud> semantic_graph_slam::get3DMap() {
-  std::vector<map_cloud> cloud_map_vector;
-  // cloud_map_vector = semantic_mapping_obj_->getOutputMap();
-
-  return cloud_map_vector;
-}
-
 void semantic_graph_slam::saveGraph(std::string save_graph_path) {
   graph_slam_->save(save_graph_path);
   std::cout << "saved the graph at " << save_graph_path << std::endl;