diff --git a/.gitmodules b/.gitmodules
index 99c466699..3f5326f9e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -5,6 +5,3 @@
 	path = src/hardware/QUTMS_Embedded_Common
 	url = https://github.com/QUT-Motorsport/QUTMS_Embedded_Common
 	branch = comp22
-[submodule "src/navigation/lidarslam_ros2"]
-	path = src/navigation/lidarslam_ros2
-	url = https://github.com/QUT-Motorsport/lidarslam_ros2.git
diff --git a/src/navigation/lidarslam_ros2 b/src/navigation/lidarslam_ros2
deleted file mode 160000
index a913f64eb..000000000
--- a/src/navigation/lidarslam_ros2
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a913f64ebf533c319004a8df1847320419a0e777
diff --git a/src/navigation/nav_bringup/config/lidar_slam_params.yaml b/src/navigation/nav_bringup/config/lidar_slam_params.yaml
deleted file mode 100644
index 4eb50ab75..000000000
--- a/src/navigation/nav_bringup/config/lidar_slam_params.yaml
+++ /dev/null
@@ -1,63 +0,0 @@
-scan_matcher:
-  ros__parameters:
-    use_sim_time: true
-
-    global_frame_id: "track"
-    odom_frame_id: "odom"
-    robot_frame_id: "base_footprint"
-
-    initial_pose_topic: "/initialpose"
-    input_cloud_topic: "/velodyne_points"
-    imu_topic: "/imu/data"
-    map_topic: "/slam/points_map"
-    map_array_topic: "/slam/points_map_array"
-    path_topic: "/slam/trajectory"
-    pose_topic: "/slam/car_pose"
-
-    registration_method: "NDT" # "NDT" or "GICP"
-    ndt_resolution: 0.05 # resolution size of voxel[m]
-    ndt_num_threads: 2 # threads using ndt(if 0 is set, maximum alloawble threads are used
-    gicp_corr_dist_threshold: 1.0 # the distance threshold between the two corresponding points of the source and target[m]
-    trans_for_mapupdate: 0.05 # moving distance of map update[m]
-    vg_size_for_input: 0.05 # down sample size of input cloud[m]
-    vg_size_for_map: 0.05 # down sample size of map cloud[m]
-    use_min_max_filter: true
-    scan_min_range: 1.0
-    scan_max_range: 30.0
-    scan_period: 0.1
-    map_publish_period: 0.2
-    num_targeted_cloud: 200 # number of targeted cloud in registration(The higher this number, the less distortion.)
-    set_initial_pose: true
-    initial_pose_x: 0.0
-    initial_pose_y: 0.0
-    initial_pose_z: 0.0
-    initial_pose_qx: 0.0
-    initial_pose_qy: 0.0
-    initial_pose_qz: 0.0
-    initial_pose_qw: 1.0
-    publish_tf: true
-    use_imu: true
-    use_odom: true
-    debug_flag: true
-
-graph_based_slam:
-    ros__parameters:
-      use_sim_time: true
-
-      map_array_topic: "/slam/points_map_array"
-      modified_map_topic: "/slam/modified_points_map"
-      modified_map_array_topic: "/slam/modified_points_map_array"
-      modified_path_topic: "/slam/modified_trajectory"
-
-      registration_method: "NDT" # "NDT" or "GICP"
-      ndt_resolution: 0.05 # resolution size of voxel[m]
-      ndt_num_threads: 2 # threads using ndt(if 0 is set, maximum alloawble threads are used
-      voxel_leaf_size: 0.05 # down sample size of input cloud[m]
-      loop_detection_period: 1000 # period of searching loop detection[ms]
-      threshold_loop_closure_score: 0.5 # fitness score of ndt for loop clousure
-      distance_loop_closure: 3.0  # distance far from revisit candidates for loop clousure[m]
-      range_of_searching_loop_closure: 2.0 # search radius for candidate points from the present for loop closure[m]
-      search_submap_num: 5 # the number of submap points before and after the revisit point used for registration
-      num_adjacent_pose_cnstraints: 5 # the number of constraints between successive nodes in a pose graph over time
-      use_save_map_in_loop: false # Whether to save the map when loop close(If the map saving process in loop close is too heavy and the self-position estimation fails, set this to false.)
-      debug_flag: true
diff --git a/src/navigation/nav_bringup/launch/lidar_slam.launch.py b/src/navigation/nav_bringup/launch/lidar_slam.launch.py
deleted file mode 100644
index 3232748c5..000000000
--- a/src/navigation/nav_bringup/launch/lidar_slam.launch.py
+++ /dev/null
@@ -1,47 +0,0 @@
-import os
-
-from ament_index_python.packages import get_package_share_path
-import launch
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    pkg_share = get_package_share_path("nav_bringup")
-
-    # Community ROS 2 packages
-    localisation_node = Node(
-        package="robot_localization",
-        executable="ekf_node",
-        name="odom_filter_node",
-        output="screen",
-        parameters=[
-            os.path.join(pkg_share, "config/localisation_params.yaml"),
-        ],
-    )
-
-    mapping = Node(
-        package="scanmatcher",
-        executable="scanmatcher_node",
-        output="screen",
-        remappings=[("/input_cloud", "/velodyne_points")],
-        parameters=[
-            os.path.join(pkg_share, "config/lidar_slam_params.yaml"),
-        ],
-    )
-
-    graphbasedslam = Node(
-        package="graph_based_slam",
-        executable="graph_based_slam_node",
-        output="screen",
-        parameters=[
-            os.path.join(pkg_share, "config/lidar_slam_params.yaml"),
-        ],
-    )
-
-    return launch.LaunchDescription(
-        [
-            localisation_node,
-            mapping,
-            graphbasedslam,
-        ]
-    )