diff --git a/launch/offboard.launch b/launch/offboard.launch
new file mode 100644
index 0000000..2512d05
--- /dev/null
+++ b/launch/offboard.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+
+<node name="offb" pkg="offboard_ex" type="offb_node" output="screen"/>
+
+
+</launch>
diff --git a/launch/path_follow.launch b/launch/path_follow.launch
new file mode 100644
index 0000000..50f1d1d
--- /dev/null
+++ b/launch/path_follow.launch
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<launch>
+	<node
+		pkg="oscillation_ctrl"
+		type="LinkState_phi.py"
+		name="LinkStates"
+		launch-prefix="xterm -e"
+	/>
+	<node
+		pkg="oscillation_ctrl"
+		type="ref_signalGen.py"
+		name="RefSignal"
+	/>
+	<node
+		pkg="oscillation_ctrl"
+		type="klausen_control.py"
+		name="OscillationDampen"
+		launch-prefix="xterm -e"
+	/>
+	<node
+		pkg="oscillation_ctrl"
+		type="pathFollow_node"
+		name="pathFollow_node"
+		launch-prefix="xterm -e"
+	/>
+</launch>
diff --git a/launch/takeoff_noCtrl.launch b/launch/takeoff_noCtrl.launch
new file mode 100644
index 0000000..87404cf
--- /dev/null
+++ b/launch/takeoff_noCtrl.launch
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="test_type" default="step.py" />
+
+  <group ns="sim">
+  	<rosparam file="$(find oscillation_ctrl)/config/noCtrl_param.yaml" />
+  </group>
+
+	<node
+		pkg="oscillation_ctrl"
+		type="LinkState.py"
+		name="LinkStates"
+		launch-prefix="xterm -e"
+	/>
+	<node
+		pkg="oscillation_ctrl"
+		type="offb_node"
+		name="offb_node"
+		launch-prefix="xterm -e"
+	/>
+	<node
+		pkg="oscillation_ctrl"
+		type="$(arg test_type)"
+		name="test_node"
+		launch-prefix="xterm -e"
+	/>
+</launch>