diff --git a/mrpt_pf_localization/launch/demo_2d_lidar.launch.py b/mrpt_pf_localization/launch/demo_2d_lidar.launch.py
new file mode 100644
index 00000000..3e5a2586
--- /dev/null
+++ b/mrpt_pf_localization/launch/demo_2d_lidar.launch.py
@@ -0,0 +1,48 @@
+
+# ROS2 launch file
+
+from launch import LaunchDescription
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from ament_index_python import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    pfLocDir = get_package_share_directory("mrpt_pf_localization")
+    print('pfLocDir: ' + pfLocDir)
+
+    # args that can be set from the command line or a default will be used
+    world_file_launch_arg = DeclareLaunchArgument(
+        "world_file", default_value=TextSubstitution(
+            text=os.path.join(pfLocDir, 'mvsim_tutorial', 'demo_jackal.world.xml')))
+
+    mvsim_node = Node(
+        package='mvsim',
+        executable='mvsim_node',
+        name='mvsim',
+        output='screen',
+        parameters=[
+            os.path.join(pfLocDir, 'mvsim_tutorial',
+                         'mvsim_ros2_params.yaml'),
+            {
+                "world_file": LaunchConfiguration('world_file'),
+                "headless": False
+            }]
+    )
+
+    rviz2_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=[
+                '-d', [os.path.join(pfLocDir, 'mvsim_tutorial', 'demo_depth_camera_ros2.rviz')]]
+    )
+
+    return LaunchDescription([
+        world_file_launch_arg,
+        mvsim_node,
+        rviz2_node
+    ])
diff --git a/mrpt_tutorials/maps/gh25.simplemap b/mrpt_tutorials/maps/gh25.simplemap
deleted file mode 100644
index 87b587c4..00000000
Binary files a/mrpt_tutorials/maps/gh25.simplemap and /dev/null differ
diff --git a/mrpt_pf_localization/tutorial/map.simplemap b/mrpt_tutorials/maps/gh25_simulated.simplemap
similarity index 100%
rename from mrpt_pf_localization/tutorial/map.simplemap
rename to mrpt_tutorials/maps/gh25_simulated.simplemap