diff --git a/config/gauss_params.yaml b/config/gauss_params.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2999ac306bb940f34f58e552b67afee76ea9b88f
--- /dev/null
+++ b/config/gauss_params.yaml
@@ -0,0 +1,16 @@
+mqtt:
+  client:
+    protocol: 4      # MQTTv311
+  connection:
+    host: localhost
+    port: 1883
+    keepalive: 60
+  private_path: device/001
+# Commenting the following lines makes the messages to be puclished in the MQTT server as JSON
+# serializer: msgpack:dumps
+# deserializer: msgpack:loads
+bridge:
+  - factory: mqtt_bridge.bridge:RosToMqttBridge
+    msg_type: iri_gnss_msgs.msg:Rpa_positioning_info
+    topic_from: /iri_gnss_data/rpa_positioning_info
+    topic_to: rpa_position
diff --git a/launch/gauss.launch b/launch/gauss.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f05e45fe60b8f839775c1ebd4fd8ad4c90bc5c52
--- /dev/null
+++ b/launch/gauss.launch
@@ -0,0 +1,8 @@
+<launch>
+  <arg name="use_tls" default="false" />
+  <node name="mqtt_bridge" pkg="mqtt_bridge" type="mqtt_bridge_node.py" output="screen">
+    <rosparam command="delete" param="" />
+    <rosparam command="load" file="$(find mqtt_bridge)/config/gauss_params.yaml" />
+    <rosparam if="$(arg use_tls)" command="load" ns="mqtt" file="$(find mqtt_bridge)/config/tls_params.yaml" />
+  </node>
+</launch>
diff --git a/requirements.txt b/requirements.txt
index e2c322e1334e3e7e595064c4376d5e0bcaf376f2..aa1a9247618e32bf459bb0d5010f453a10579aee 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,4 @@
 bson>=0.5.2
-inject>=3.3.1
+inject==3.5.4
 paho-mqtt>=1.2
 msgpack-python>=0.4.8