diff --git a/launch/microstrain.launch b/launch/microstrain.launch
index 2243bea4..834d83d8 100644
--- a/launch/microstrain.launch
+++ b/launch/microstrain.launch
@@ -1,45 +1,67 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Standalone example launch file -->
+  <!-- Standalone launch file -->
+
+  <!-- Declare arguments with default values -->
+  <arg name="port" default="/dev/ttyUSB0"/>
+  <arg name="baudrate" default="115200" />
+  <arg name="publish_gps" default="true" />
+  <arg name="publish_imu" default="true" />
+  <arg name="publish_odom" default="true" />
+
+  <arg name="gps_rate" default="4" />
+  <arg name="imu_rate" default="10" />
+  <arg name="nav_rate" default="10" />
+
+  <arg name="gps_frame_id" default="wgs84" />
+  <arg name="imu_frame_id" default="base_link" />
+  <arg name="odom_frame_id" default="wgs84" />
+  <arg name="odom_child_frame_id" default="base_link" />
+
+  <arg name="debug" default="true" />
+  <arg name="diagnostics" default="true" />
 
   <!-- For setting debug level to debug -->
-  <env name="ROSCONSOLE_CONFIG_FILE" 
+  <group if="$(arg debug)">
+    <env name="ROSCONSOLE_CONFIG_FILE" 
        value="$(find microstrain_3dm_gx5_45)/config/custom_rosconsole.conf"/>
+  </group>
 
-  <!-- Microstain sensor node -->
+  <!-- Microstrain sensor node -->
   <node name="microstrain_3dm_gx5_45_node" 
   pkg="microstrain_3dm_gx5_45" 
   type="microstrain_3dm_gx5_45_node" output="screen">
-    <!--<param name="port" value="/dev/ttyACM0" type="str" />-->
-    <param name="port" value="/dev/ttyUSB0" type="str" />
-    <param name="baudrate" value="115200" type="int" />
+    <param name="port" value="$(arg port)" type="str" />
+    <param name="baudrate" value="$(arg baudrate)" type="int" />
 
     <param name="device_setup" value="true" type="bool" />
     <param name="readback_settings" value="true" type="bool" />
     <param name="save_settings" value="true" type="bool" />
     <param name="auto_init" value="true" type="bool" />
-    <param name="gps_rate" value="4" type="int" />
-    <param name="imu_rate" value="10" type="int" />
-    <param name="nav_rate" value="10" type="int" />
+
+    <param name="gps_rate" value="$(arg gps_rate)" type="int" />
+    <param name="imu_rate" value="$(arg imu_rate)" type="int" />
+    <param name="nav_rate" value="$(arg nav_rate)" type="int" />
+
     <param name="dynamics_mode" value="1" type="int" />
     <param name="declination_source" value="2" type="int" />
     <param name="declination" value="0.23" type="double" />
     
-    <param name="gps_frame_id" value="wgs84" type="str" />
-    <param name="imu_frame_id" value="base_link" type="str" />
-    <param name="odom_frame_id" value="wgs84" type="str" />
-    <param name="odom_child_frame_id" value="base_link" type="str" />
+    <param name="gps_frame_id" value="$(arg gps_frame_id)" type="str" />
+    <param name="imu_frame_id" value="$(arg imu_frame_id)" type="str" />
+    <param name="odom_frame_id" value="$(arg odom_frame_id)" type="str" />
+    <param name="odom_child_frame_id" value="$(arg odom_child_frame_id)" type="str" />
 
-    <param name="publish_gps" value="true" type="bool" />
-    <param name="publish_imu" value="true" type="bool" />
-    <param name="publish_odom" value="true" type="bool" />
-
-    
+    <param name="publish_gps" value="$(arg publish_gps)" type="bool" />
+    <param name="publish_imu" value="$(arg publish_imu)" type="bool" />
+    <param name="publish_odom" value="$(arg publish_odom)" type="bool" />
   </node>
 
   <!-- Diagnostics -->
-  <node pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/>
-  <!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints"
+  <group if="$(arg diagnostics)">
+    <node pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/>
+    <!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints"
       args="/yaw_pid_debug/Setpoint /vel_pid_debug/Setpoint"/>-->
+  </group>
   
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/microstrain_25.launch b/launch/microstrain_25.launch
index f35e035d..3a888678 100644
--- a/launch/microstrain_25.launch
+++ b/launch/microstrain_25.launch
@@ -2,18 +2,26 @@
 <launch>
   <!-- Standalone example launch file for 3DM-GX5-25 -->
 
+  <!-- Declare arguments with default values -->
+  <arg name="port" default="/dev/microstrain" />
+  <arg name="baudrate" default="115200" />
+  <arg name="imu_rate" default="100" />
+  <arg name="imu_frame_id" default="imu_link" />
+  <arg name="debug" default="false" />
+  <arg name="diagnostics" default="false" />
+
   <!-- For setting debug level to debug -->
-  <!--
-  <env name="ROSCONSOLE_CONFIG_FILE" 
+  <group if="$(arg debug)">
+    <env name="ROSCONSOLE_CONFIG_FILE" 
        value="$(find microstrain_3dm_gx5_45)/config/custom_rosconsole.conf"/>
-  -->
+  </group>
 
-  <!-- Microstain sensor node -->
+  <!-- Microstrain sensor node -->
   <node name="microstrain_3dm_gx5_25_node" 
   pkg="microstrain_3dm_gx5_45" 
   type="microstrain_3dm_gx5_45_node" output="screen">
-    <param name="port" value="/dev/microstrain" type="str" />
-    <param name="baudrate" value="115200" type="int" />
+    <param name="port" value="$(arg port)" type="str" />
+    <param name="baudrate" value="$(arg baudrate)" type="int" />
 
     <param name="device_setup" value="true" type="bool" />
     <!-- General Settings -->
@@ -24,8 +32,8 @@
     <!-- The GX5-25 is AHRS only, so need to turn off the other messages -->
     <!-- AHRS Settings -->
     <param name="publish_imu" value="true" type="bool" />
-    <param name="imu_rate" value="100" type="int" />
-    <param name="imu_frame_id" value="imu_link" type="str" />
+    <param name="imu_rate" value="$(arg imu_rate)" type="int" />
+    <param name="imu_frame_id" value="$(arg imu_frame_id)" type="str" />
     <!-- Setting manual declination is not yet implemented/testes -->
     <!-- Declination source 1=None, 2=magnetic, 3=manual -->
     <param name="declination_source" value="2" type="int" />
@@ -45,10 +53,10 @@
   </node>
 
   <!-- Diagnostics -->
-  <!--
-  <node pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/>
-  -->
-  <!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints"
+  <group if="$(arg diagnostics)">
+    <node pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/>
+    <!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints"
       args="/yaw_pid_debug/Setpoint /vel_pid_debug/Setpoint"/>-->
+  </group>
  
 </launch>
diff --git a/launch/microstrain_kf.launch b/launch/microstrain_kf.launch
deleted file mode 100644
index bac69839..00000000
--- a/launch/microstrain_kf.launch
+++ /dev/null
@@ -1,43 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- Standalone example launch file -->
-
-  <!-- For setting debug level to debug -->
-  <env name="ROSCONSOLE_CONFIG_FILE" 
-       value="$(find microstrain_3dm_gx5_45)/config/custom_rosconsole.conf"/>
-
-  <!-- Microstain sensor node -->
-  <node name="microstrain_3dm_gx5_45_node" 
-  pkg="microstrain_3dm_gx5_45" 
-  type="microstrain_3dm_gx5_45_node" output="screen">
-    <!--<param name="port" value="/dev/ttyACM0" type="str" />-->
-    <param name="port" value="/dev/ttyS5" type="str" />
-    <param name="baudrate" value="115200" type="int" />
-
-    <param name="device_setup" value="true" type="bool" />
-    <param name="readback_settings" value="true" type="bool" />
-    <param name="save_settings" value="true" type="bool" />
-    <param name="auto_init" value="true" type="bool" />
-    <param name="gps_rate" value="4" type="int" />
-    <param name="imu_rate" value="10" type="int" />
-    <param name="nav_rate" value="10" type="int" />
-    <param name="dynamics_mode" value="1" type="int" />
-    <param name="declination_source" value="2" type="int" />
-    <param name="declination" value="0.23" type="double" />
-    
-    <param name="gps_frame_id" value="wgs84" type="str" />
-    <param name="imu_frame_id" value="base_link" type="str" />
-    <param name="odom_frame_id" value="wgs84" type="str" />
-    <param name="odom_child_frame_id" value="base_link" type="str" />
-
-    <param name="publish_gps" value="true" type="bool" />
-    <param name="publish_imu" value="true" type="bool" />
-    <param name="publish_odom" value="true" type="bool" />
-
-    <remap from="nav/odom" to="nav_odom"/>
-    <remap from="nav/status" to="nav_status"/>
-
-    
-  </node>
-
-</launch>
diff --git a/launch/microstrain_pioneer.launch b/launch/microstrain_pioneer.launch
deleted file mode 100644
index 1c0efef1..00000000
--- a/launch/microstrain_pioneer.launch
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- Standalone example launch file -->
-
-  <!-- For setting debug level to debug -->
-  <!-- <env name="ROSCONSOLE_CONFIG_FILE" 
-       value="$(find microstrain_3dm_gx5_45)/config/custom_rosconsole.conf"/>
-  -->
-
-  <!-- Microstain sensor node -->
-  <node name="microstrain_3dm_gx5_45_node" 
-  pkg="microstrain_3dm_gx5_45" 
-  type="microstrain_3dm_gx5_45_node" output="screen" respawn="true">
-    <!--<param name="port" value="/dev/ttyACM0" type="str" />-->
-    <param name="port" value="/dev/ttyS1" type="str" />
-    <param name="baudrate" value="115200" type="int" />
-
-    <param name="device_setup" value="true" type="bool" />
-    <param name="readback_settings" value="true" type="bool" />
-    <param name="save_settings" value="true" type="bool" />
-    <param name="auto_init" value="true" type="bool" />
-    <param name="gps_rate" value="4" type="int" />
-    <param name="imu_rate" value="10" type="int" />
-    <param name="nav_rate" value="10" type="int" />
-    <param name="dynamics_mode" value="1" type="int" />
-    <param name="declination_source" value="2" type="int" />
-    <param name="declination" value="0.23" type="double" />
-    
-    <param name="gps_frame_id" value="wgs84" type="str" />
-    <param name="imu_frame_id" value="base_link" type="str" />
-    <param name="odom_frame_id" value="wgs84" type="str" />
-    <param name="odom_child_frame_id" value="base_link" type="str" />
-
-    <param name="publish_gps" value="true" type="bool" />
-    <param name="publish_imu" value="true" type="bool" />
-    <param name="publish_odom" value="true" type="bool" />
-
-    
-  </node>
-
-  <!-- Diagnostics -->
-  <!--	
-  <node pkg="rqt_topic" type="rqt_topic" name="rqt_topic"/>
-  -->
-  <!--<node pkg="rqt_plot" type="rqt_plot" name="pid_setpoints"
-      args="/yaw_pid_debug/Setpoint /vel_pid_debug/Setpoint"/>-->
-  
-</launch>