diff --git a/doku/AMR_Projekt.tex b/doku/AMR_Projekt.tex
index c1eaf4c..efcbdaa 100644
--- a/doku/AMR_Projekt.tex
+++ b/doku/AMR_Projekt.tex
@@ -147,6 +147,11 @@ Wlan Antennen sind bestellt, sollten am Mittwoch da sein. Doch vergessen, hoffen
 
 Eigenes Launchfile erweitert. Jetzt mit optionalem Rosbag. Wird über Parameter angesprochen, soll nicht immer gestartet werden. Datei ist bei knapp 1 Minute 6 mb groß.
 
+\subsection{04.12.2018}
+TODO: rviz  Wie genau aufzeichnen, welche Einstellungen. Wie Ergebnisvideo abspeichern? Tutorial mapserver?
+
+evtl nur /scan aufzeichnen?
+
 \section{genutzte Links}
 \begin{itemize}
 	\item \url{http://wiki.ros.org/p2os/Tutorials/Getting%20Started%20with%20p2os}
@@ -160,6 +165,8 @@ Eigenes Launchfile erweitert. Jetzt mit optionalem Rosbag. Wird über Parameter
 		\item \url{http://wiki.ros.org/rtabmap_ros/Tutorials/WifiSignalStrengthMappingUserDataUsage}
 		\item \url{http://wiki.ros.org/rosbag/Tutorials/Recording%20and%20playing%20back%20data}
 		\item \url{https://answers.ros.org/question/72202/how-to-playback-pointcloud-in-rviz-which-was-recorded-using-rosbag/}
+		\item \url{http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData}
+		\item \url{http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData#record}
 	\end{itemize}
 
 \end{document}
diff --git a/launch/pioneerMasterLaunchFile.launch b/launch/pioneerMasterLaunchFile.launch
new file mode 100644
index 0000000..2d44100
--- /dev/null
+++ b/launch/pioneerMasterLaunchFile.launch
@@ -0,0 +1,75 @@
+<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" />
+
+    <!-- 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>
+
+    <!-- Start the p2os ROS Driver -->
+	<group if="$(arg P2OS_Driver)" >
+	    <node pkg="p2os_driver" name="p2os_driver" type="p2os_driver"/>
+	</group>
+	
+	<!-- Start the Dashboard -->
+	<group if="$(arg Dashboard)">
+        <node pkg="p2os_dashboard" name="p2os_dashboard" type="p2os_dashboard"/>
+	</group>
+	
+    <!-- Start the teleoperation node for keyboard control -->
+    <group if="$(arg KeyboardTeleop)">
+        <include file="$(find p2os_launch)/launch/teleop_keyboard.launch" />
+    </group>
+
+	 <!-- Start the teleoperation node for joystick control -->
+    <group if="$(arg JoystickTeleop)">
+        <include file="$(find p2os_launch)/launch/teleop_joy.launch" /> 
+    </group>
+
+    <!-- Publish the required transform -->
+    <group if="$(arg Transform)">
+        <include file="$(find p2os_launch)/launch/tf_base_link_to_laser.launch" />          
+    </group>
+
+    <!-- Start the Hokuyo Laser node if Hokuyo Laser is used -->
+    <group if="$(arg HokuyoLaser)">
+        <include file="$(find p2os_launch)/launch/hokuyo.launch" /> 
+    </group>
+
+    <!-- Start the SICK LMS Laser Node if a SICK Laser is used -->
+    <group if="$(arg SICKLMSLaser)">
+        <include file="$(find p2os_launch)/launch/sicklms.launch" /> 
+    </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>
+