diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9cb3fac..28df175 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,6 +46,8 @@ include_directories(
   include ${rosbuzz_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
+# set the path to the library folder
+link_directories(/usr/local/lib)
 
 # Executables 
 add_executable(rosbuzz_node src/rosbuzz.cpp
diff --git a/launch/husky.launch b/launch/husky.launch
new file mode 100644
index 0000000..bb883c5
--- /dev/null
+++ b/launch/husky.launch
@@ -0,0 +1,59 @@
+<launch>
+  <group ns="gps">
+    <!-- NavSat Serial -->
+    <node pkg="nmea_comms" type="serial_node" name="nmea_serial_node" output="screen">
+      <param name="port" value="$(optenv HUSKY_NAVSAT_PORT /dev/clearpath/gps)" />
+      <param name="baud" value="$(optenv HUSKY_NAVSAT_BAUD 19200)" />
+    </node>
+
+    <!-- NavSat Processing -->
+    <node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver">
+    </node>
+  </group>
+
+  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" >
+    <rosparam>
+      magnetic_declination_radians: 0
+      roll_offset: 0
+      pitch_offset: 0
+      yaw_offset: 0
+      zero_altitude: false
+      broadcast_utm_transform: false
+    </rosparam>
+  </node>
+
+	<!-- run xbee>
+	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
+	<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
+	<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
+	<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" / -->
+
+	<!--  xmee_mav Drone type and Commununication Mode -->
+	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master solo" output="screen" -->
+	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
+	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" -->
+	<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" -->
+	<!--  xmee_mav Topics and Services Names -->
+	<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
+	<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
+	<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
+	<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
+	
+
+	<node pkg="dji_sdk_mistlab" type="dji_sdk_mav" name="dji_sdk_mav" output="screen"/>
+
+	<!-- run rosbuzz -->
+	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
+		<rosparam file="$(find rosbuzz)/launch/launch_config/husky.yaml"/>
+		<param name="bzzfile_name" value="$(find rosbuzz)/script/testflockfev.bzz" />
+		<param name="rcclient" value="true" /> 
+		<param name="rcservice_name" value="buzzcmd" />
+		<param name="in_payload" value="inMavlink"/>
+		<param name="out_payload" value="outMavlink"/>
+		<param name="xbee_status_srv" value="xbee_status"/>
+		<param name="xbee_plugged" value="true"/>
+                <param name="name" value="husky1"/>
+		<param name="stand_by" value="$(find rosbuzz)/script/stand_by.bzz"/>
+	</node>
+
+</launch>
diff --git a/launch/launch_config/husky.yaml b/launch/launch_config/husky.yaml
new file mode 100644
index 0000000..c878cc4
--- /dev/null
+++ b/launch/launch_config/husky.yaml
@@ -0,0 +1,17 @@
+topics:
+  gps      :   global_position
+  localpos      :   local_position
+  battery  :   power_status
+  status   :   flight_status
+  fcclient :   dji_mavcmd
+  setpoint :   setpoint_position/local
+  armclient:   dji_mavarm
+  modeclient:  dji_mavmode
+  altitude: rel_alt
+  stream:  set_stream_rate
+
+type:
+  gps  :  sensor_msgs/NavSatFix
+  battery :   mavros_msgs/BatteryStatus
+  status  :   mavros_msgs/ExtendedState
+  altitude: std_msgs/Float64
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index d21fe9c..4d4eb68 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -128,7 +128,7 @@ namespace rosbzz_node{
 				/*Set no of robots for updates TODO only when not updating*/
 				//if(multi_msg)
 				updates_set_robots(no_of_robots);
-				ROS_INFO("ROBOTS: %i , acutal : %i",(int)no_of_robots,(int)buzzdict_size(buzz_utility::get_vm()->swarmmembers)+1); 
+				//ROS_INFO("ROBOTS: %i , acutal : %i",(int)no_of_robots,(int)buzzdict_size(buzz_utility::get_vm()->swarmmembers)+1); 
 	    			/*run once*/
 	    			ros::spinOnce();
 				/*loop rate of ros*/