diff --git a/launch/ivo_head_bt_client.launch b/launch/ivo_head_bt_client.launch
new file mode 100644
index 0000000000000000000000000000000000000000..45107349cb744b3644093e86375c8779e313e4a8
--- /dev/null
+++ b/launch/ivo_head_bt_client.launch
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="head_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_head_module)/config/ivo_head_module_default.yaml" />
+  <arg name="move_action" default="/head_controller/follow_joint_trajectory"/>
+  <arg name="point_action" default="/head_controller/point_head_action"/>
+
+  <arg name="tree_path"          default="$(find tiago_head_module)/src/xml" />
+  <arg name="tree_file"          default="move_to_bt" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <include file="$(find tiago_head_module)/launch/tiago_head_bt_client.launch">
+    <arg name="node_name"     value="$(arg node_name)" />
+    <arg name="output"        value="$(arg output)" />
+    <arg name="launch_prefix" value="$(arg launch_prefix)" />
+    <arg name="config_file"   value="$(arg config_file)" />
+    <arg name="move_action"   value="$(arg move_action)"/>
+    <arg name="point_action"  value="$(arg point_action)"/>
+    <arg name="tree_path"       value="$(arg tree_path)"/>
+    <arg name="tree_file"       value="$(arg tree_file)"/>
+    <arg name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+  </include>
+
+</launch>
diff --git a/launch/ivo_head_bt_client_sim.launch b/launch/ivo_head_bt_client_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..1b9cb3684bc43673a9caaad182d5d784a1f4b02a
--- /dev/null
+++ b/launch/ivo_head_bt_client_sim.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="head_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_head_module)/config/ivo_head_module_default.yaml" />
+  <arg name="move_action" default="/head_controller/follow_joint_trajectory"/>
+  <arg name="point_action" default="/head_controller/point_head_action"/>
+
+  <arg name="tree_path"          default="$(find tiago_head_module)/src/xml" />
+  <arg name="tree_file"          default="move_to_bt" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch">
+  </include>
+
+  <include file="$(find tiago_head_module)/launch/tiago_head_bt_client.launch">
+    <arg name="node_name"     value="$(arg node_name)" />
+    <arg name="output"        value="$(arg output)" />
+    <arg name="launch_prefix" value="$(arg launch_prefix)" />
+    <arg name="config_file"   value="$(arg config_file)" />
+    <arg name="move_action"   value="$(arg move_action)"/>
+    <arg name="point_action"  value="$(arg point_action)"/>
+    <arg name="tree_path"       value="$(arg tree_path)"/>
+    <arg name="tree_file"       value="$(arg tree_file)"/>
+    <arg name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+  </include>
+
+</launch>
+