diff --git a/.gitignore b/.gitignore
index a7c46f8..7d62213 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,3 @@
 src/test*
+.cproject
+.project
diff --git a/launch/launch_config/m100.yaml b/launch/launch_config/m100.yaml
new file mode 100644
index 0000000..5950785
--- /dev/null
+++ b/launch/launch_config/m100.yaml
@@ -0,0 +1,8 @@
+topics:
+  gps      :   /global_position
+  battery  :   /power_status
+  status   :   /flight_status
+type:
+  gps  :  sensor_msgs/NavSatFix
+  battery :   mavros_msgs/BatteryStatus
+  status  :   mavros_msgs/ExtendedState
\ No newline at end of file
diff --git a/launch/launch_config/solo.yaml b/launch/launch_config/solo.yaml
new file mode 100644
index 0000000..f7e47c1
--- /dev/null
+++ b/launch/launch_config/solo.yaml
@@ -0,0 +1,12 @@
+topics:
+  gps     :   /mavros/global_position/global
+  battery :   /mavros/battery
+  status  :   /mavros/state
+type:
+  gps  :  sensor_msgs/NavSatFix
+  # for SITL Solo 
+  battery :   mavros_msgs/BatteryState
+  # for solo
+  #battery :   mavros_msgs/BatteryStatus
+  status  :   mavros_msgs/State
+  
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
new file mode 100644
index 0000000..31df5c1
--- /dev/null
+++ b/launch/rosbuzz.launch
@@ -0,0 +1,19 @@
+<!-- Launch file for ROSBuzz -->
+<launch>
+	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
+		<rosparam file="$(env ROS_WS)/src/ROSBuzz/launch/robot_config/$(env ROBOT).yaml"/>
+		<param name="program_mode" value="production "/>
+		<!-- Move this to yaml -->
+		<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/ROSBuzz/src/test1.bzz" />
+	    <param name="rcclient" value="true" /> 
+		<param name="rcservice_name" value="/buzzcmd" />
+		<!-- Move this to yaml -->
+		
+		<param name="fcclient_name" value="/mavros/cmd/command_int" />
+		
+		<param name="in_payload" value="/inMavlink"/>
+		<param name="out_payload" value="/outMavlink"/>
+		<param name="robot_id" value="3"/>
+		<param name="No_of_Robots" value="2"/>
+	</node>
+</launch>