diff --git a/launch/gmapping-bagfile.launch b/launch/gmapping-bagfile.launch
new file mode 100644
index 0000000..295e9db
--- /dev/null
+++ b/launch/gmapping-bagfile.launch
@@ -0,0 +1,13 @@
+<launch>
+
+   <param name="use_sim_time" value="true" />
+   <include file="$(find p2os_launch)/launch/gmapping.launch" />
+   <node name="rviz" pkg="rviz" type="rviz" />
+   <node pkg="rosbag" name="rosbag" type="play" args="--clock /home/pioneer/Desktop/bagfiles/wlan_pioneer_2018-12-18-18-43-47.bag"/>
+   
+
+   <node pkg="rosbag" type="record" name="rosbag_record_gmapping_post"
+        args="record -o /tmp/wlan_pioneer_postprocessing /pose /scan /tf /wlan_signal /map" />
+
+</launch>
+