diff --git a/config/hokuyo_utm30lx_eth.yaml b/config/hokuyo_utm30lx_eth.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7458f3171580ba9a6aab59c537f03e641a2364fe
--- /dev/null
+++ b/config/hokuyo_utm30lx_eth.yaml
@@ -0,0 +1,19 @@
+ip_address: '172.20.10.10'
+ip_port: 10940
+serial_port: ''
+serial_baud: 115200
+calibrate_time: false
+synchronize_time: false
+publish_intensity: true
+publish_multiecho: false
+error_limit: 4
+diagnostics_tolerance: 0.05
+diagnostics_window_time: 5.0
+get_detailed_status: false
+tf_prefix: '/'
+frame_id: '/front_hokuyo_scan_frame'
+time_offset: 0.0
+angle_min: -2.36
+angle_max: 2.36
+cluster: 1
+skip: 0
diff --git a/config/hokuyo_utm30lx_usb.yaml b/config/hokuyo_utm30lx_usb.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4a271ca9175da2f178fe3f9c791633089146ac8d
--- /dev/null
+++ b/config/hokuyo_utm30lx_usb.yaml
@@ -0,0 +1,19 @@
+ip_address: ''
+ip_port: 10940
+serial_port: '/dev/ttyACM0'
+serial_baud: 115200
+calibrate_time: false
+synchronize_time: false
+publish_intensity: true
+publish_multiecho: false
+error_limit: 4
+diagnostics_tolerance: 0.05
+diagnostics_window_time: 5.0
+get_detailed_status: false
+tf_prefix: '/'
+frame_id: '/rear_hokuyo_scan_frame'
+time_offset: 0.0
+angle_min: -2.36
+angle_max: 2.36
+cluster: 1
+skip: 0
diff --git a/config/joy_params.yaml b/config/joy_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..082b5bfe0a271455d14e1fef2e2e175a1e2f1829
--- /dev/null
+++ b/config/joy_params.yaml
@@ -0,0 +1,8 @@
+dev: /dev/input/ps3joy
+#dev_ff: /dev/input/by-id/usb-Sony_PLAYSTATION_R_3_Controller-event-joystick
+#dev_name: ""
+deadzone: 0.05
+autorepeat_rate: 0
+coalesce_interval: 0.001
+default_trig_val: false
+sticky buttons: false
\ No newline at end of file
diff --git a/config/pioneer_params.yaml b/config/pioneer_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..546935cb18fc20a2345f9fa3df69a0c73745c632
--- /dev/null
+++ b/config/pioneer_params.yaml
@@ -0,0 +1,19 @@
+port: '/dev/ttyUSB0'
+baud: 9600
+debug_aria: false
+aria_log_filename: 'Aria.log'
+publish_aria_lasers: false
+#trans_accel:
+#trans_dece:
+#rot_accel:
+#rot_decel:
+#lat_accel:
+#lat_decel:
+#TicksMM:
+#DriftFactor:
+#RevCount:
+cmd_vel_timeout: 0.6
+odom_frame: 'odom'
+base_link_frame: 'base_link'
+bumpers_frame: 'bumbers'
+sonar_frame: 'sonar'
diff --git a/launch/bringup.launch b/launch/bringup.launch
index e01afcbfb405733cbf2c737bb285565cc8e568e6..b25db83bfcf9f4a328274e5ed1c9008fd81bd623 100644
--- a/launch/bringup.launch
+++ b/launch/bringup.launch
@@ -3,40 +3,75 @@
<arg name="ns" default="helena"/>
- <arg name="pioneer_config_file" default="$(find iri_pioneer3_bringup)/config/params.yaml" />
+ <!--enable/disable-->
+ <arg name="front_laser" default="true"/>
+ <arg name="rear_laser" default="true"/>
+ <arg name="joy" default="true"/>
+ <arg name="platform" default="true"/>
- <arg name="front_laser_config_file" default="$(find iri_hokuyo_laser2d_bringup)/config/hokuyo_utm30lx_usb.yaml" />
- <arg name="front_laser_node_name" default="front_laser" />
-
- <arg name="rear_laser_config_file" default="$(find iri_hokuyo_laser2d_bringup)/config/hokuyo_utm30lx_eth.yaml" />
- <arg name="rear_laser_node_name" default="rear_laser" />
+ <arg name="pioneer_config_file" default="$(find iri_helena_bringup)/config/pioneer_params.yaml" />
+ <arg name="front_laser_config_file" default="$(find iri_helena_bringup)/config/hokuyo_utm30lx_usb.yaml" />
+ <arg name="rear_laser_config_file" default="$(find iri_helena_bringup)/config/hokuyo_utm30lx_eth.yaml" />
+ <arg name="joy_config_file" default="$(find iri_helena_bringup)/config/joy_params.yaml" />
<arg name="output" default="log"/>
<arg name="launch_prefix" default=""/>
-
- <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch">
- <arg name="ns" value="$(arg ns)"/>
- <arg name="config_file" value="$(arg pioneer_config_file)"/>
- <arg name="output" value="$(arg output)"/>
- <arg name="launch_prefix" value="$(arg launch_prefix)"/>
- </include>
<group ns="$(arg ns)">
<group ns="sensors">
- <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch">
- <arg name="config_file" value="$(arg front_laser_config_file)"/>
- <arg name="node_name" value="$(arg front_laser_node_name)"/>
- <arg name="output" value="$(arg output)"/>
- </include>
+ <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch"
+ if="$(arg front_laser)" >
+ <arg name="config_file" value="$(arg front_laser_config_file)"/>
+ <arg name="node_name" value="front_laser"/>
+ <arg name="scan_topic" value="/$(arg ns)/sensors/front_laser_scan"/>
+ <arg name="status_topic" value="/$(arg ns)/sensors/front_laser_status"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
+
+ <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch"
+ if="$(arg rear_laser)" >
+ <arg name="config_file" value="$(arg rear_laser_config_file)"/>
+ <arg name="node_name" value="rear_laser"/>
+ <arg name="scan_topic" value="/$(arg ns)/sensors/rear_laser_scan"/>
+ <arg name="status_topic" value="/$(arg ns)/sensors/rear_laser_status"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+ </include>
- <include file="$(find iri_hokuyo_laser2d_bringup)/launch/hokuyo_laser2d.launch">
- <arg name="config_file" value="$(arg rear_laser_config_file)"/>
- <arg name="node_name" value="$(arg rear_laser_node_name)"/>
- <arg name="output" value="$(arg output)"/>
+ <node pkg="joy"
+ type="joy_node"
+ name="joy_node"
+ if="$(arg joy)"
+ respawn="true">
+ <rosparam file="$(arg joy_config_file)" command="load" />
+ <remap from="~joy" to="/$(arg ns)/sensors/joy"/>
+ </node>
+
+ <!--TODO gps -->
+
+ <!--TODO camera -->
+
+ <!--TODO battery_monitor -->
+
+ </group>
+
+ <group ns="devices">
+
+ <include file="$(find iri_pioneer3_bringup)/launch/bringup.launch"
+ if="$(arg platform)" >
+ <arg name="ns" value="$(arg ns)"/>
+ <arg name="config_file" value="$(arg pioneer_config_file)"/>
+ <arg name="output" value="$(arg output)"/>
+ <arg name="launch_prefix" value="$(arg launch_prefix)"/>
</include>
+ <!--TODO pan & tilt -->
+
+ <!--TODO tts -->
+
</group>
</group>