diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ca74fd5
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,8 @@
+# Build artifacts
+build/
+
+# Install artifacts
+install/
+
+# Log artifacts
+log/
diff --git a/build/gc_navigation/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/build/gc_navigation/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
index e44e61f..626e62a 100644
Binary files a/build/gc_navigation/prefix_override/__pycache__/sitecustomize.cpython-310.pyc and b/build/gc_navigation/prefix_override/__pycache__/sitecustomize.cpython-310.pyc differ
diff --git a/build/gc_slamtoolbox/prefix_override/__pycache__/sitecustomize.cpython-310.pyc b/build/gc_slamtoolbox/prefix_override/__pycache__/sitecustomize.cpython-310.pyc
index a23e48d..d057993 100644
Binary files a/build/gc_slamtoolbox/prefix_override/__pycache__/sitecustomize.cpython-310.pyc and b/build/gc_slamtoolbox/prefix_override/__pycache__/sitecustomize.cpython-310.pyc differ
diff --git a/install/gc_bringup/share/gc_bringup/launch/__pycache__/navigation.launch.cpython-310.pyc b/install/gc_bringup/share/gc_bringup/launch/__pycache__/navigation.launch.cpython-310.pyc
index 8f499e8..384469f 100644
Binary files a/install/gc_bringup/share/gc_bringup/launch/__pycache__/navigation.launch.cpython-310.pyc and b/install/gc_bringup/share/gc_bringup/launch/__pycache__/navigation.launch.cpython-310.pyc differ
diff --git a/install/gc_bringup/share/gc_bringup/launch/navigation.launch.py b/install/gc_bringup/share/gc_bringup/launch/navigation.launch.py
index fe42974..5de2d09 100644
--- a/install/gc_bringup/share/gc_bringup/launch/navigation.launch.py
+++ b/install/gc_bringup/share/gc_bringup/launch/navigation.launch.py
@@ -81,7 +81,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params,
                     {'use_sim_time': True, 'yaml_filename': map_yaml}],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== AMCL ====================
@@ -92,7 +92,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Planner Server ====================
@@ -103,7 +103,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Controller Server ====================
@@ -114,7 +114,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Behavior Server ====================
@@ -125,7 +125,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== BT Navigator ====================
@@ -136,7 +136,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Waypoint Follower ====================
@@ -147,7 +147,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
-        arguments=['--ros-args', '-p', 'use_sim_time:=True'],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Lifecycle Manager (map + amcl) ====================
diff --git a/log/latest_build b/log/latest_build
index cd6170d..52d04bd 120000
--- a/log/latest_build
+++ b/log/latest_build
@@ -1 +1 @@
-build_2026-06-02_12-41-50
\ No newline at end of file
+build_2026-06-02_12-46-29
\ No newline at end of file
diff --git a/src/gc_bringup/launch/navigation.launch.py b/src/gc_bringup/launch/navigation.launch.py
index 066159e..5de2d09 100644
--- a/src/gc_bringup/launch/navigation.launch.py
+++ b/src/gc_bringup/launch/navigation.launch.py
@@ -81,6 +81,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params,
                     {'use_sim_time': True, 'yaml_filename': map_yaml}],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== AMCL ====================
@@ -91,6 +92,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Planner Server ====================
@@ -101,6 +103,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Controller Server ====================
@@ -111,6 +114,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Behavior Server ====================
@@ -121,6 +125,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== BT Navigator ====================
@@ -131,6 +136,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Waypoint Follower ====================
@@ -141,6 +147,7 @@ def generate_launch_description():
         output='screen',
         parameters=[nav2_params, {'use_sim_time': True}],
         remappings=[('/tf', 'tf'), ('/tf_static', 'tf_static')],
+        ros_arguments=['-p', 'use_sim_time:=True'],
     )
 
     # ==================== Lifecycle Manager (map + amcl) ====================