diff --git a/launch/mocap_oscillation_damp.launch b/launch/mocap_oscillation_damp.launch
deleted file mode 100644
index a03d9d3..0000000
--- a/launch/mocap_oscillation_damp.launch
+++ /dev/null
@@ -1,88 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Launch file to use klausen oscillaton damping ctrl in Gazebo
-/-->
-<launch>
-  <arg name='test' default="none"/>
-  <arg name="mav_name" default="spiri"/>
-  <arg name="command_input" default="1" />
-  <arg name="log_output" default="screen" />
-  <arg name="fcu_protocol" default="v2.0" />
-  <arg name="respawn_mavros" default="false" />
-  <arg name="gazebo_gui" default="false" />
-  <arg name="fcu_url" default="udp://:14549@192.168.1.91:14554"/>
-  <arg name="gcs_url" default="udp-b://127.0.0.1:14555@14550" />
-  <arg name="connection_type" default="wifi"/>
-
-  <group ns="status">
-		<rosparam file="$(find oscillation_ctrl)/config/mocapLab_params.yaml" />
-  	<param name="test_type" value="$(arg test)"/>
-  </group>
-
-	<!-- LOCALIZES DRONE & DETERMINES LOAD ANGLES -->
-	<node
-		pkg="oscillation_ctrl"
-		type="Mocap_Bridge.py"
-		name="localize_node"
-		launch-prefix="xterm -e"
-	/>
-	<!-- DETERMINES DESIRED POSITION -->
-	<node
-		pkg="oscillation_ctrl"
-		type="wpoint_tracker.py"
-		name="waypoints_server"
-	/>
-	<!-- CREATES DESIRED TRAJECTORY/ REFERENCE SIGNAL -->
-	<node
-		pkg="oscillation_ctrl"
-		type="ref_signalGen.py"
-		name="refSignal_node"
-		launch-prefix="xterm -e"
-	/>
-	<!-- DETERMINES DESIRED ATTITUDE AND THRUST BASED ON REF. SIG. -->
-	<node
-		pkg="oscillation_ctrl"
-		type="klausen_control.py"
-		name="klausenCtrl_node"
-		launch-prefix="xterm -e"
-		output='screen'
-	/>
-	<!-- PUBLISHES DESIRED COMMANDS -->
-	<node
-		pkg="oscillation_ctrl"
-		type="mocap_pathFollow_node"
-		name="mocap_pathFollow_node"
-		launch-prefix="xterm -e"
-	/>
-	<!-- RUNS DIFFERENT TESTS IF DESIRED -->
-	<group if="$(eval test != 'none')">
-		<node
-			pkg="oscillation_ctrl"
-			type="perform_test.py"
-			name="test_node"
-			launch-prefix="xterm -e"
-		/>
-	</group>
-
-	<!-- RUNS TEST -->
-	<node
-		pkg="oscillation_ctrl"
-		type="mocap_runTest.py"
-		name="mocap_Test"
-		launch-prefix="xterm -e"
-	/>
-
-	<!-- Cortex bridge launch  -->
-	<include file="$(find cortex_bridge)/launch/cortex_bridge.launch">
-		<!--param name="local_ip" value="$(param local_ip)" /-->
-	</include>
-
-	<!-- MAVROS launch  -->
-	<include file="$(find mavros)/launch/px4.launch">
-		<arg name="pluginlists_yaml" value="$(find oscillation_ctrl)/config/px4_pluginlists.yaml" />
-		<arg name="config_yaml" value="$(find oscillation_ctrl)/config/px4_config.yaml" />
-  		<arg name="fcu_protocol" value="$(arg fcu_protocol)" />
-		<arg name="fcu_url" value="$(arg fcu_url)" />
-		<arg name="gcs_url" value="$(arg gcs_url)" />
-	</include>
-</launch>