diff --git a/src/active_bo_ros/launch/interactive_bo_robot.launch.py b/src/active_bo_ros/launch/interactive_bo_robot.launch.py
new file mode 100755
index 0000000..ca55443
--- /dev/null
+++ b/src/active_bo_ros/launch/interactive_bo_robot.launch.py
@@ -0,0 +1,30 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from ament_index_python import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('active_bo_ros'),
+                    'rosbridge_server.launch.py'
+                )
+            )
+        ),
+        Node(
+            package='active_bo_ros',
+            executable='interactive_bo_robot',
+            name='interactive_bo_robot'
+        ),
+        Node(
+            package='franka_iml_experiment',
+            executable='iml_experiment',
+            name='iml_experiment'
+        ),
+    ])
diff --git a/src/active_bo_ros/setup.py b/src/active_bo_ros/setup.py
index 549743c..a2c447c 100644
--- a/src/active_bo_ros/setup.py
+++ b/src/active_bo_ros/setup.py
@@ -37,7 +37,8 @@ setup(
             'active_rl_topic = active_bo_ros.active_rl_topic:main',
             'interactive_bo = active_bo_ros.interactive_bo:main',
             'interactive_bo_2d = active_bo_ros.interactive_bo_2d:main',
-            'interactive_rl_2d = active_bo_ros.interactive_rl_2d:main'
+            'interactive_rl_2d = active_bo_ros.interactive_rl_2d:main',
+            'interactive_bo_robot = active_bo_ros.interactive_bo_robot:main'
         ],
     },
 )