diff --git a/launch/description.launch b/launch/description.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f026cf7d9de7f695701b33d6a4bd85bcdcf6450b
--- /dev/null
+++ b/launch/description.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="node_name" default="ana"/>
+  <arg name="model" default="ana"/>
+
+  <param name="robot_description"
+         command="$(find xacro)/xacro --inorder '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg node_name)" />
+
+  <node pkg="robot_state_publisher" type="state_publisher" name="$(arg node_name)_state_publisher">
+    <param name="tf_prefix" type="string" value="/$arg node_name)"/>
+    <param name="publish_frequency" type="double" value="20.0"/>
+  </node>
+
+</launch>
+