diff --git a/src/rov_navigation/launch/navigation.launch.py.bak b/src/rov_navigation/launch/navigation.launch.py.bak
deleted file mode 100644
index 1cd9ed9..0000000
--- a/src/rov_navigation/launch/navigation.launch.py.bak
+++ /dev/null
@@ -1,43 +0,0 @@
-"""
-Navigation stack launch file.
-Launches: state_estimator, depth_node, robot_localization EKF
-"""
-
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-from ament_index_python.packages import get_package_share_directory
-import os
-
-
-def generate_launch_description():
-    pkg_dir = get_package_share_directory('rov_navigation')
-    ekf_config = os.path.join(pkg_dir, 'config', 'ekf.yaml')
-
-    return LaunchDescription([
-        # EKF from robot_localization
-        Node(
-            package='robot_localization',
-            executable='ekf_node',
-            name='ekf_filter_node',
-            output='screen',
-            parameters=[ekf_config],
-        ),
-
-        # State estimator
-        Node(
-            package='rov_navigation',
-            executable='state_estimator',
-            name='state_estimator',
-            output='screen',
-        ),
-
-        # Depth node
-        Node(
-            package='rov_navigation',
-            executable='depth_node',
-            name='depth_node',
-            output='screen',
-        ),
-    ])