diff --git a/launch/tibi_dabo_state_machine_companion.launch b/launch/tibi_dabo_state_machine_companion.launch
new file mode 100644
index 0000000000000000000000000000000000000000..c841c77608615b76bd6035ff44da96e0d16372c3
--- /dev/null
+++ b/launch/tibi_dabo_state_machine_companion.launch
@@ -0,0 +1,36 @@
+<!-- -->
+<launch>
+
+  <!-- load robot defined machines -->
+  <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
+
+  <group ns="$(env ROBOT)">
+
+    <!-- People Tracking MHT -->
+      <!-- published topics:  /$(env ROBOT)/mht/tracks -->
+      <!-- subscribed topics: /$(env ROBOT)/peopleMapFiltered -->
+      <!-- service clients: -->
+      <!-- service servers: -->
+      <!-- action clients: -->
+      <!-- action servers: -->
+ <!--output="screen"-->
+    <node pkg ="iri_state_machine_companion"
+          type="iri_state_machine_companion"
+          name="state_mach_comp"
+          respawn="true"
+          machine="nav"
+	 >
+      <remap from="/$(env ROBOT)/state_mach_comp/people_tracks"
+               to="/$(env ROBOT)/mht/tracks" />
+      <remap from="/$(env ROBOT)/state_mach_comp/odom"
+               to="/$(env ROBOT)/segway/odom" />
+      <remap from="/$(env ROBOT)/state_mach_comp/companionState"
+               to="/$(env ROBOT)/companionState" />
+    <!-- <remap from="/$(env ROBOT)/tibi_akp_status"
+               to="/$(env ROBOT)/tibi_akp_status" /> -->
+      <param name="~/threshold_max_dist_between_robot_and_person_conf"   value="5.0" />
+    </node>
+
+  </group>
+
+</launch>