diff --git a/FreqUseCmd.txt b/FreqUseCmd.txt
index bd30bf3..1cf65ca 100644
--- a/FreqUseCmd.txt
+++ b/FreqUseCmd.txt
@@ -15,6 +15,9 @@ rosrun rqt_logger_level rqt_logger_level (choose which is showed in console wind
 roslaunch [package] [filename.launch]
 rqt (run rqt_graph)
 ps -ef | grep -i rosmaster (check for roscore is running or not)
+rosbag record -a (record all topic to bag file)
+rosbag record -O subset [topic1_name] [topic2_name] (record chosen topics to bag file)
+cartographer_rosbag_validate -bag_filename your_bag.bag
 
 ---------------------------------------
 rosparam set [param_name]
@@ -42,7 +45,7 @@ export | grep ROS
 
 ---------------------------------------
 export TURTLEBOT3_MODEL=burger, waffle, waffle_pi
-roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch/turtlebot3_world.launch/turtlebot3_house.launch
+roslaunch turtlebot3_gazebo turtlebot3_world.launch/turtlebot3_empty_world.launch/turtlebot3_house.launch
 roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
 roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer
 roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
@@ -50,6 +53,7 @@ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
 rosrun map_server map_saver -f ~/map
 roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
 
+
 sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers
 
 sudo apt-get install ros-melodic-cartographer ros-melodic-cartographer-ros ros-melodic-cartographer-ros-msgs ros-melodic-cartographer-rviz