diff --git a/launch/heatmap.launch b/launch/heatmap.launch
new file mode 100644
index 0000000..8287f3c
--- /dev/null
+++ b/launch/heatmap.launch
@@ -0,0 +1,16 @@
+<launch>
+
+   <arg name="spacing" default="0.4" />
+   <param name="/use_sim_time" value="true"/>
+
+
+   <node name="heatmap_client" pkg="heatmap" type="heatmap_client" respawn="false" />
+   <node name="path_planner" pkg="heatmap" type="path_planner.py" respawn="false" output="screen">
+      <param name="coverage_spacing" value="$(arg spacing)" />
+   </node>
+
+   
+   <node name="distance_measure" pkg="heatmap" type="distance_measure"/>
+   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find heatmap)/heatmap_sim.rviz" respawn="false" />
+
+</launch>
diff --git a/launch/pioneerMasterLaunchFile.launch b/launch/pioneerMasterLaunchFile.launch
index 8401f5c..77c6c63 100644
--- a/launch/pioneerMasterLaunchFile.launch
+++ b/launch/pioneerMasterLaunchFile.launch
@@ -1,16 +1,18 @@
 <launch>
-	<!-- Defining the arguments -->
-	<arg name="HokuyoLaser" value="0" />
-	<arg name="SICKLMSLaser" value="1" />
-	<arg name="P2OS_Driver" value="1" />
-	<arg name="KeyboardTeleop" value="0" />
-	<arg name="JoystickTeleop" value="1" />
-	<arg name="Transform" value="1" />
-	<arg name="Dashboard" value="0" />
-	<arg name="enableMotor" value="1" />
-   <arg name="enableWlanScan" value="1" />
-   <arg name="enableGmapping" value="1" />
-   <arg name="enableBagging" value="1" />
+    <!-- Defining the arguments -->
+    <arg name="HokuyoLaser" value="0" />
+    <arg name="SICKLMSLaser" value="1" />
+    <arg name="P2OS_Driver" value="1" />
+    <arg name="KeyboardTeleop" value="0" />
+    <arg name="JoystickTeleop" value="1" />
+    <arg name="Transform" value="1" />
+    <arg name="Dashboard" value="0" />
+    <arg name="enableMotor" value="1" />
+    <arg name="enableWlanScan" value="1" />
+    <arg name="enableGmapping" value="1" />
+    <arg name="enableBagging" value="1" />
+    <arg name="enableHeatmap" value="0" />
+   
 
     <!-- Set wifi interface and start wlan logging -->
    <group if="$(arg enableWlanScan)" >
@@ -69,5 +71,11 @@
         args="record -o /tmp/wlan_pioneer /pose /scan /tf /wlan_signal" />
     </group>
 
+
+    <group if="$(arg enableHeatmap)" >
+        <include file="$(find wlan_pioneer)/launch/heatmap.launch"/>
+    </group>
+
+
 </launch>