diff --git a/mapping.sh b/mapping.sh
new file mode 100644
index 0000000..c0272ba
--- /dev/null
+++ b/mapping.sh
@@ -0,0 +1,19 @@
+source install/setup.bash
+
+commands=(
+    "ros2 launch rm_serial_driver rm_serial_driver.launch.py"
+    "ros2 launch rm_decision decision.launch.py"
+    "ros2 launch rm_simpal_move simple_move.launch.py"
+    "ros2 launch rm_nav_bringup bringup_real.launch.py \
+      world:=wanzheng \
+      mode:=mapping  \
+      lio:=fastlio \
+      lio_rviz:=True \
+      nav_rviz:=True
+    "
+)
+
+for cmd in "${commands[@]}"; do
+  gnome-terminal -- bash -c "source install/setup.bash; $cmd; exec bash"
+  sleep 0.5
+done
\ No newline at end of file
diff --git a/src/rm_nav/rm_nav_bringup/PCD/wanzheng.pcd b/src/rm_nav/rm_nav_bringup/PCD/wanzheng.pcd
new file mode 100644
index 0000000..116536d
Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/PCD/wanzheng.pcd differ
diff --git a/src/rm_nav/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml
index af58a2d..3984fbe 100644
--- a/src/rm_nav/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml
+++ b/src/rm_nav/rm_nav_bringup/config/reality/fastlio_mid360_real.yaml
@@ -7,7 +7,7 @@
         filter_size_map: 0.5
         cube_side_length: 1000.0
         runtime_pos_log_enable: false
-        map_file_path: "src/rm_nav/rm_nav_bringup/PCD/C_ROOM.pcd"
+        map_file_path: "src/rm_nav/rm_nav_bringup/PCD/wanzheng.pcd"
 
         common:
             lid_topic:  "/livox/lidar"
diff --git a/src/rm_nav/rm_nav_bringup/map/wanzheng.pgm b/src/rm_nav/rm_nav_bringup/map/wanzheng.pgm
new file mode 100644
index 0000000..342acd2
Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/wanzheng.pgm differ
diff --git a/src/rm_nav/rm_nav_bringup/map/wanzheng.yaml b/src/rm_nav/rm_nav_bringup/map/wanzheng.yaml
new file mode 100644
index 0000000..2693d5e
--- /dev/null
+++ b/src/rm_nav/rm_nav_bringup/map/wanzheng.yaml
@@ -0,0 +1,7 @@
+image: wanzheng.pgm
+mode: trinary
+resolution: 0.05
+origin: [-8.85, -16.3, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25
\ No newline at end of file
diff --git a/src/rm_nav/rm_nav_bringup/map/wazheng.data b/src/rm_nav/rm_nav_bringup/map/wazheng.data
new file mode 100644
index 0000000..f86e23f
Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/wazheng.data differ
diff --git a/src/rm_nav/rm_nav_bringup/map/wazheng.posegraph b/src/rm_nav/rm_nav_bringup/map/wazheng.posegraph
new file mode 100644
index 0000000..53413e8
Binary files /dev/null and b/src/rm_nav/rm_nav_bringup/map/wazheng.posegraph differ