diff --git a/src/hangar_sim/description/picknik_ur_mujoco_ros2_control.xacro b/src/hangar_sim/description/picknik_ur_mujoco_ros2_control.xacro
index a072f8aa..b43913f8 100644
--- a/src/hangar_sim/description/picknik_ur_mujoco_ros2_control.xacro
+++ b/src/hangar_sim/description/picknik_ur_mujoco_ros2_control.xacro
@@ -22,7 +22,10 @@
           <param name="lidar_publish_rate">10</param>
           <param name="publish_odom">true</param>
           <param name="odom_child_frame">ridgeback_base_link</param>
+          <param name="odom_rate">150</param>
           <param name="odom_zero_z">true</param>
+          <param name="odom_frame">odom</param>
+          <param name="publish_mj_world_tf">false</param>
           <param name="mujoco_viewer">${mujoco_viewer}</param>
           <param name="mujoco_keyframe">default</param>
       </hardware>
diff --git a/src/hangar_sim/launch/sim/robot_drivers_to_persist_sim.launch.py b/src/hangar_sim/launch/sim/robot_drivers_to_persist_sim.launch.py
index 60461b22..04a797f8 100644
--- a/src/hangar_sim/launch/sim/robot_drivers_to_persist_sim.launch.py
+++ b/src/hangar_sim/launch/sim/robot_drivers_to_persist_sim.launch.py
@@ -256,22 +256,27 @@ def generate_launch_description():
         }.items(),
     )
 
-    # Static TF between mjWorld and map frame
+    # Static TF between mj_world and map frame — anchors the nav2 map frame to the MuJoCo
+    # simulation world.
     static_tf_world_to_map = Node(
         package="tf2_ros",
         executable="static_transform_publisher",
-        name="static_transform_publisher",
+        name="static_tf_world_to_map",
         output="log",
         arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "mj_world", "map"],
     )
 
-    # Static TF between map and odom frame
-    static_tf_map_to_odom = Node(
+    # Static TF connecting MoveIt's planning root ('world') to the simulation root ('mj_world').
+    # The UI (pose-utils.ts) hardcodes 'world' as the reference frame for all user-clicked poses,
+    # so this link is required for nav2 goals to be transformable to 'map', and lets MoveIt
+    # locate the base link via 'world → mj_world → base_platform → ridgeback_base_link'
+    # instead of relying on virtual joint states (which are not published in sim).
+    static_tf_mj_world_to_world = Node(
         package="tf2_ros",
         executable="static_transform_publisher",
-        name="static_transform_publisher",
+        name="static_tf_mj_world_to_world",
         output="log",
-        arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "map", "odom"],
+        arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "mj_world", "world"],
     )
 
     # QoS relay to bridge BEST_EFFORT odom and IMU to RELIABLE for fuse
@@ -364,7 +369,7 @@ def generate_launch_description():
     # ld.add_action(rviz_cmd)
 
     ld.add_action(static_tf_world_to_map)
-    ld.add_action(static_tf_map_to_odom)
+    ld.add_action(static_tf_mj_world_to_world)
     ld.add_action(sensor_qos_relay)
     ld.add_action(laser_filter_front_node)
     ld.add_action(laser_filter_rear_node)
diff --git a/src/hangar_sim/package.xml b/src/hangar_sim/package.xml
index 7563389f..91578728 100644
--- a/src/hangar_sim/package.xml
+++ b/src/hangar_sim/package.xml
@@ -26,6 +26,7 @@
   <exec_depend>picknik_ur_base_config</exec_depend>
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>realsense2_description</exec_depend>
+  <exec_depend>slam_toolbox</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>velocity_force_controller</exec_depend>
   <exec_depend>moveit_pro_sam2</exec_depend>
diff --git a/src/hangar_sim/params/nav2_params.yaml b/src/hangar_sim/params/nav2_params.yaml
index 0ee8d6af..4cdfa9c5 100644
--- a/src/hangar_sim/params/nav2_params.yaml
+++ b/src/hangar_sim/params/nav2_params.yaml
@@ -428,3 +428,69 @@ velocity_smoother:
     odom_duration: 0.1
     deadband_velocity: [0.0, 0.0, 0.0]
     velocity_timeout: 1.0
+
+slam_toolbox:
+  ros__parameters:
+    use_sim_time: True
+
+    # Plugin params
+    solver_plugin: solver_plugins::CeresSolver
+    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
+    ceres_preconditioner: SCHUR_JACOBI
+    ceres_trust_strategy: LEVENBERG_MARQUARDT
+    ceres_dogleg_type: TRADITIONAL_DOGLEG
+    ceres_loss_function: None
+
+    # ROS Parameters
+    odom_frame: odom
+    map_frame: map
+    base_frame: ridgeback_base_link
+    scan_topic: /scan_front_filtered
+    mode: mapping
+
+    debug_logging: false
+    throttle_scans: 1
+    transform_publish_period: 0.02
+    map_update_interval: 5.0
+    resolution: 0.05
+    max_laser_range: 20.0
+    minimum_time_interval: 0.5
+    tf_buffer_duration: 30.0
+    stack_size_to_use: 40000000
+    enable_interactive_mode: true
+
+    # General Parameters
+    use_scan_matching: true
+    use_scan_barycenter: true
+    minimum_travel_distance: 0.5
+    minimum_travel_heading: 0.5
+    scan_buffer_size: 10
+    scan_buffer_maximum_scan_distance: 10.0
+    link_match_minimum_response_fine: 0.1
+    link_scan_maximum_distance: 1.5
+    loop_search_maximum_distance: 3.0
+    do_loop_closing: true
+    loop_match_minimum_chain_size: 10
+    loop_match_maximum_variance_coarse: 3.0
+    loop_match_minimum_response_coarse: 0.35
+    loop_match_minimum_response_fine: 0.45
+
+    # Correlation Parameters
+    correlation_search_space_dimension: 0.5
+    correlation_search_space_resolution: 0.01
+    correlation_search_space_smear_deviation: 0.1
+
+    # Loop Closure Parameters
+    loop_search_space_dimension: 8.0
+    loop_search_space_resolution: 0.05
+    loop_search_space_smear_deviation: 0.03
+
+    # Scan Matcher Parameters
+    distance_variance_penalty: 0.5
+    angle_variance_penalty: 1.0
+    fine_search_angle_offset: 0.00349
+    coarse_search_angle_offset: 0.349
+    coarse_angle_resolution: 0.0349
+    minimum_angle_penalty: 0.9
+    minimum_distance_penalty: 0.5
+    use_response_expansion: true