diff --git a/launch/rosbuzz-solo.launch b/launch/rosbuzz-solo.launch
new file mode 100644
index 0000000..26ba3e7
--- /dev/null
+++ b/launch/rosbuzz-solo.launch
@@ -0,0 +1,42 @@
+<launch>
+	<!-- RUN mavros -->
+	<arg name="fcu_url" default="/dev/ttyAMA0:115200" />
+	<arg name="gcs_url" default="" />
+	<arg name="tgt_system" default="1" />
+	<arg name="tgt_component" default="1" />
+	<arg name="log_output" default="screen" />
+
+	<include file="/home/pi/ros_catkinKin_ws/src/mavros/mavros/launch/node.launch">
+		<arg name="pluginlists_yaml" value="/home/pi/ros_catkinKin_ws/src/mavros/mavros/launch/apm_pluginlists.yaml" />
+		<arg name="config_yaml" value="/home/pi/ros_catkinKin_ws/src/mavros/mavros/launch/apm_config.yaml" />
+
+		<arg name="fcu_url" value="$(arg fcu_url)" />
+		<arg name="gcs_url" value="$(arg gcs_url)" />
+		<arg name="tgt_system" value="$(arg tgt_system)" />
+		<arg name="tgt_component" value="$(arg tgt_component)" />
+		<arg name="log_output" value="$(arg log_output)" />
+	</include>
+
+	<!-- set streaming rate -->
+	<!-- node pkg="rosservice" type="rosservice" name="freq" args="call /mavros/set_stream_rate 0 10 1" output="screen" / -->
+
+	<!-- 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" />
+
+
+	<!-- run rosbuzz -->
+	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
+		<rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
+		<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/src/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="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/src/stand_by.bo"/>
+	</node>
+
+</launch>