diff --git a/main/src/vtr_navigation/launch/vtr_sim.launch.py b/main/src/vtr_navigation/launch/vtr_sim.launch.py
deleted file mode 100644
index bfea22436..000000000
--- a/main/src/vtr_navigation/launch/vtr_sim.launch.py
+++ /dev/null
@@ -1,72 +0,0 @@
-import os
-import yaml
-import os.path as osp
-
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch import LaunchDescription
-from launch.conditions import LaunchConfigurationEquals, LaunchConfigurationNotEquals
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    # config directory
-    config_dir = osp.join(os.getenv('VTRSRC'), 'config')
-    # temp directory
-    temp_dir = os.getenv('VTRTEMP')
-    robot_name = os.getenv('ROBOT_NAME')
-
-    commonNodeArgs = {
-        "package": 'vtr_navigation',
-        "namespace": f'/{robot_name}/vtr',
-        "executable": 'vtr_navigation',
-        "output": 'screen',
-        #"remappings": [("command", f"/{robot_name}/cmd_vel")],
-        #"prefix": 'xterm -e gdb -ex run --args',
-        #"prefix": 'valgrind --tool=callgrind',
-    }
-
-    return LaunchDescription([
-        DeclareLaunchArgument('data_dir', default_value='', description='directory to store graph, if blank use setup UI'),
-        DeclareLaunchArgument('model_dir', default_value="", description='model directory (folder for PyTorch .pt models)'),
-        DeclareLaunchArgument('start_new_graph', default_value='false', description='whether to start a new pose graph'),
-        DeclareLaunchArgument('use_sim_time', default_value='false', description='use simulated time for playback'),
-        DeclareLaunchArgument('planner', default_value='cbit', description='use no planner. Publish zero'),
-        DeclareLaunchArgument('base_params', description='base parameter file (sensor, robot specific)'),
-        DeclareLaunchArgument('override_params', default_value='', description='scenario specific parameter overrides'),
-        Node(**commonNodeArgs,
-            parameters=[
-                PathJoinSubstitution((config_dir, LaunchConfiguration("base_params"))),
-              {
-                    #"robot_frame": f"{robot_name}/base_link",
-                    #"lidar_frame": f"{robot_name}/os_lidar",
-                    #"lidar_topic": f"/{robot_name}/ouster/points",
-                    "data_dir": LaunchConfiguration("data_dir"),
-                    "model_dir": LaunchConfiguration("model_dir"),
-                    "start_new_graph": LaunchConfiguration("start_new_graph"),
-                    "use_sim_time": LaunchConfiguration("use_sim_time"),
-                    "path_planning.type": LaunchConfiguration("planner"),
-              },
-                PathJoinSubstitution((config_dir, LaunchConfiguration("override_params")))
-            ],
-            condition=LaunchConfigurationNotEquals('data_dir', '')
-        ),
-        Node(**commonNodeArgs,
-            parameters=[
-                PathJoinSubstitution((config_dir, LaunchConfiguration("base_params"))),
-                PathJoinSubstitution((temp_dir, "setup_params.yaml")),
-                {                    
-                    #"robot_frame": f"{robot_name}/base_link",
-                    #"lidar_frame": f"{robot_name}/os_lidar",
-                    #"lidar_topic": f"/{robot_name}/ouster/points",
-                    "model_dir": LaunchConfiguration("model_dir"),
-                    "start_new_graph": LaunchConfiguration("start_new_graph"),
-                    "use_sim_time": LaunchConfiguration("use_sim_time"),
-                    "path_planning.type": LaunchConfiguration("planner"),
-
-                },
-                PathJoinSubstitution((config_dir, LaunchConfiguration("override_params")))
-            ],
-            condition=LaunchConfigurationEquals('data_dir', '')
-        ),
-    ])