diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index 2242b1fc..f0f1dc43 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -6,76 +6,76 @@
     <arg name="respawn" default="true"/>
 
     <node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" respawn_delay="5" output="screen">
-            <!-- UART connection -->
-            <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
+        <!-- UART connection -->
+        <param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
 
-            <!-- USB connection -->
-            <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
+        <!-- USB connection -->
+        <param name="fcu_url" value="/dev/ttyACM0" if="$(eval fcu_conn == 'usb')"/>
 
-            <!-- sitl -->
-            <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
+        <!-- sitl -->
+        <param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
 
-            <!-- gcs bridge -->
-            <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
-            <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
-            <param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
-            <param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
-            <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
-            <param name="gcs_quiet_mode" value="true"/>
-            <param name="conn/timeout" value="8"/>
+        <!-- gcs bridge -->
+        <param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
+        <param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
+        <param name="gcs_url" value="udp-b://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
+        <param name="gcs_url" value="udp-pb://$(env ROS_IP):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
+        <param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
+        <param name="gcs_quiet_mode" value="true"/>
+        <param name="conn/timeout" value="8"/>
 
-            <!-- default px4 params -->
-            <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
+        <!-- default px4 params -->
+        <rosparam command="load" file="$(find mavros)/launch/px4_config.yaml"/>
 
-            <!-- rangefinders -->
-            <rosparam>
-                distance_sensor:
-                    rangefinder_0:
-                        id: 0
-                        frame_id: "rangefinder"
-                        orientation: PITCH_270
-                        field_of_view: 0.5
-                    rangefinder_1:
-                        id: 1
-                        frame_id: "rangefinder"
-                        orientation: PITCH_270
-                        field_of_view: 0.5
-                    rangefinder_2_sub:
-                        subscriber: true
-                        id: 2
-                        orientation: PITCH_270
-                    rangefinder_3_sub:
-                        subscriber: true
-                        id: 3
-                        orientation: PITCH_270
-            </rosparam>
+        <!-- rangefinders -->
+        <rosparam>
+            distance_sensor:
+                rangefinder_0:
+                    id: 0
+                    frame_id: "rangefinder"
+                    orientation: PITCH_270
+                    field_of_view: 0.5
+                rangefinder_1:
+                    id: 1
+                    frame_id: "rangefinder"
+                    orientation: PITCH_270
+                    field_of_view: 0.5
+                rangefinder_2_sub:
+                    subscriber: true
+                    id: 2
+                    orientation: PITCH_270
+                rangefinder_3_sub:
+                    subscriber: true
+                    id: 3
+                    orientation: PITCH_270
+        </rosparam>
 
-            <!-- additional params -->
-            <param name="local_position/frame_id" value="local_origin"/>
-            <param name="local_position/tf/send" value="true"/>
-            <param name="local_position/tf/frame_id" value="local_origin"/>
-            <param name="local_position/tf/child_frame_id" value="fcu"/>
-            <param name="global_position/tf/send" value="false"/>
-            <param name="imu/frame_id" value="fcu"/>
-            <rosparam param="plugin_blacklist">
-                - safety_area
-                - image_pub
-                - vibration
-                - rangefinder
-                - 3dr_radio
-                - actuator_control
-                - hil_controls
-                - vfr_hud
-                - vision_speed_estimate
-                - fake_gps
-                - cam_imu_sync
-                - hil
-                - adsb
-                - waypoint
-                - obstacle_distance
-                - setpoint_accel
-                - trajectory
-            </rosparam>
+        <!-- additional params -->
+        <param name="local_position/frame_id" value="local_origin"/>
+        <param name="local_position/tf/send" value="true"/>
+        <param name="local_position/tf/frame_id" value="local_origin"/>
+        <param name="local_position/tf/child_frame_id" value="fcu"/>
+        <param name="global_position/tf/send" value="false"/>
+        <param name="imu/frame_id" value="fcu"/>
+        <rosparam param="plugin_blacklist">
+            - safety_area
+            - image_pub
+            - vibration
+            - rangefinder
+            - 3dr_radio
+            - actuator_control
+            - hil_controls
+            - vfr_hud
+            - vision_speed_estimate
+            - fake_gps
+            - cam_imu_sync
+            - hil
+            - adsb
+            - waypoint
+            - obstacle_distance
+            - setpoint_accel
+            - trajectory
+        </rosparam>
     </node>
 
     <!-- Rangefinders frame -->