diff --git a/launch/klausen_dampen.launch b/launch/klausen_dampen.launch
new file mode 100644
index 0000000..5ee05bb
--- /dev/null
+++ b/launch/klausen_dampen.launch
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<!--
+Launch file to use klausen oscillaton damping ctrl in Gazebo
+/-->
+<launch>
+  <arg name="mav_name" default="spiri"/>
+  <arg name="command_input" default="1" />
+  <arg name="log_output" default="screen" />
+  <arg name="fcu_protocol" default="v2.0" />
+  <arg name="respawn_mavros" default="false" />
+  <arg name="gazebo_gui" default="false" />
+  <arg name="test_type" default="step.py" />
+
+  <group ns="sim">
+  	<rosparam file="$(find oscillation_ctrl)/config/Ctrl_param.yaml" />
+  </group>
+
+	<node
+		pkg="oscillation_ctrl"
+		type="LinkState.py"
+		name="linkStates_node"
+		launch-prefix="xterm -e"
+	/>
+	<node
+		pkg="oscillation_ctrl"
+		type="ref_signalGen.py"
+		name="refSignal_node"
+	/>
+	<node
+		pkg="oscillation_ctrl"
+		type="klausen_control.py"
+		name="klausenCtrl_node"
+		output="screen"
+		
+	/>
+	<node
+		pkg="oscillation_ctrl"
+		type="pathFollow_node"
+		name="pathFollow_node"
+		launch-prefix="xterm -e"
+	/>
+	
+	<node
+		pkg="oscillation_ctrl"
+		type="$(arg test_type)"
+		name="test_node"
+		launch-prefix="xterm -e"
+	/>
+  	<node pkg="geometric_controller" type="geometric_controller_node" name="geometric_controller" output="screen">
+  	  <param name="mav_name" type="string" value="$(arg mav_name)" />
+          <!--remap from="command/bodyrate_command" to="/mavros/setpoint_raw/attitude"/-->
+          <param name="ctrl_mode" value="$(arg command_input)" />
+          <param name="max_acc" value="8.0" />
+          <param name="Kp_x" value="8.0" />
+          <param name="Kp_y" value="8.0" />
+          <param name="Kp_z" value="10.0" />
+          <param name="Kv_x" value="3.0" />
+          <param name="Kv_y" value="3.0" />
+          <param name="Kv_z" value="6.0" />
+  	</node>
+	<!-- PX4 LAUNCH -->
+	<include file="$(find px4)/launch/spiri_with_tether.launch"/>
+</launch>
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