diff --git a/launch/sim_sample.launch b/launch/sim_sample.launch
index 2a22692a84d88cd1f7b69abd20a96f3f62175b9f..4843dfbc4d0423395af6206c166325e6e5113a2b 100644
--- a/launch/sim_sample.launch
+++ b/launch/sim_sample.launch
@@ -3,8 +3,8 @@
   
   <arg name="ns"    default="ana"/>
   <arg name="world_name" default="empty"/>
-  <arg name="world"      default="$(find iri_gazebo_worlds)/worlds/$(arg world_name).world"/>
   <arg name="world_description" default="true"/>
+  <arg name="cmd_vel_mux_config" default="$(find iri_ana_bringup)/config/mux.yaml"/>
   <arg name="rviz"  default="false"/>
   <arg name="gui"   default="true"/>
 
@@ -23,6 +23,14 @@
     <arg name="yaw"   value="0.0"/>
   </include>
 
+  <include file="$(find iri_ana_bringup)/launch/include/cmd_vel_mux.launch">
+    <arg name="ns"                    value="$(arg ns)"/>
+    <arg name="nodelet_manager_name"  value="mux_nodelet_manager"/>
+    <arg name="config"                value="$(arg cmd_vel_mux_config)"/>
+    <arg name="output"                value="log" />
+    <arg name="launch_prefix"         value="" />
+  </include>
+
   <node name="cmd_vel_relay"
         pkg="topic_tools"
         type="relay"