diff --git a/config/ps3.yaml b/config/ps3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..993c3dc7898f3681379ff603ed0a370a48120a29
--- /dev/null
+++ b/config/ps3.yaml
@@ -0,0 +1,10 @@
+axis_linear: 1
+scale_linear: 0.5
+scale_linear_turbo: 2.0
+
+axis_angular: 2
+scale_angular: 0.5
+
+enable_button: 11  # R1 shoulder button
+enable_turbo_button: 9  # R2 shoulder button
+
diff --git a/launch/node.launch b/launch/node.launch
index ec252967bf14f187d1e3218aab46a18b7e5c6865..efe634d32fa178498f7d0c543309709ea77d852d 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -22,8 +22,8 @@
       <param name="speed_min" value="-500"/>
       <param name="speed_max" value="500"/>
       
-      <param name="linear_sat_min" value="-0.5"/>
-      <param name="linear_sat_max" value="0.5"/>
+      <param name="linear_sat_min" value="-1.0"/>
+      <param name="linear_sat_max" value="1.0"/>
     </node>
 
 <!--  </group>-->
diff --git a/launch/teleop.launch b/launch/teleop.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e1344ae2cc5eb8e10ccd11b3c6eb8632aa5963c0
--- /dev/null
+++ b/launch/teleop.launch
@@ -0,0 +1,18 @@
+<launch>
+  <arg name="dev" default="/dev/input/ps3joy"/>
+
+  <arg name="config_filepath" default="$(find twist_to_manual_control)/config/ps3.yaml" />
+
+  <node pkg="joy" type="joy_node" name="joy_node">
+    <param name="dev" value="$(arg dev)" />
+    <param name="deadzone" value="0.12" />
+    <param name="autorepeat_rate" value="20" />
+  </node>
+
+  <node pkg="teleop_twist_joy" name="teleop_twist_joy" type="teleop_node">
+    <rosparam command="load" file="$(arg config_filepath)" />
+  </node>
+
+  <include file="$(find twist_to_manual_control)/launch/node.launch"/>
+
+</launch>