diff --git a/launch/pioneerMasterLaunchFile.launch b/launch/pioneerMasterLaunchFile.launch
index 17a65dd..2d44100 100644
--- a/launch/pioneerMasterLaunchFile.launch
+++ b/launch/pioneerMasterLaunchFile.launch
@@ -1,14 +1,25 @@
 <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="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" />
 
+    <!-- Set wifi interface and start wlan logging -->
+    <group if="$(arg enableWlanScan)" >
+        <param name="wlan_interface_24G" type="string" value="wlx801f02c608aa" />
+        <param name="wlan_interface_5G"  type="string" value="wlx801f02c608aa" />
+        <node pkg="wlan_pioneer" name="wlanSignal" type="wlanSignal" />
+    </group>
+
+    <!-- Enable the motor with rostopic pub -->
     <group if="$(arg enableMotor)" >
         <node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/>
     </group>
@@ -49,5 +60,16 @@
     </group>
 
     <include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/>
+
+
+    <group if="$(arg enableGmapping)" >
+        <include file="$(find p2os_launch)/launch/gmapping.launch" /> 
+    </group>
+
+    <group if="$(arg enableBagging)" >
+        <node pkg="rosbag" type="record" name="rosbag_record_wlan" 
+        args="record -o /tmp/wlan_pioneer /pose /sonar /scan /slam_gmapping/entropy /tf /base_scan /wlan_signal" />     
+    </group>
+
 </launch>