diff --git a/launch/rsp.launch b/launch/rsp.launch
new file mode 100644
index 0000000..4dacf22
--- /dev/null
+++ b/launch/rsp.launch
@@ -0,0 +1,13 @@
+<launch>
+    <!-- Set the use_sim_time parameter -->
+    <param name="use_sim_time" value="false" />
+
+    <!-- Set the robot description -->
+    <param name="robot_description" command="$(find xacro)/xacro $(find cps_rmp220_support)/description/robot.urdf.xacro use_ros_control:=true sim_mode:=$(arg use_sim_time)" />
+
+    <!-- Start the robot state publisher node -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
+
+    <!-- Start the joint state publisher node -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
+</launch>
diff --git a/launch/rsp.launch.py b/launch/rsp.launch.py
deleted file mode 100644
index 56d686b..0000000
--- a/launch/rsp.launch.py
+++ /dev/null
@@ -1,49 +0,0 @@
-import os
-import rospy
-import rospkg
-import xacro
-from xml.etree.ElementTree import Element, tostring
-
-def generate_launch_description():
-    # Initialize ROS node
-    rospy.init_node('robot_description_launch', anonymous=True)
-
-    # Get the package path
-    rospack = rospkg.RosPack()
-    pkg_path = rospack.get_path('cps_rmp220_support')
-    xacro_file = os.path.join(pkg_path, 'description', 'robot.urdf.xacro')
-
-    # Read parameters
-    use_sim_time = rospy.get_param('~use_sim_time', False)
-    use_ros_control = rospy.get_param('~use_ros_control', True)
-
-    # Process the URDF file using xacro
-    try:
-        urdf_tree = xacro.process_file(
-            xacro_file,
-            mappings={
-                'use_ros_control': str(use_ros_control).lower(),
-                'sim_mode': str(use_sim_time).lower(),
-            }
-        )
-        robot_description = tostring(urdf_tree.getroot(), encoding='unicode')
-    except Exception as e:
-        rospy.logerr(f"Error processing xacro file: {e}")
-        robot_description = ""
-
-    # Set the parameter for the robot description
-    rospy.set_param('/robot_description', robot_description)
-    rospy.set_param('/use_sim_time', use_sim_time)
-
-    # Launch nodes
-    state_publisher_command = "rosrun robot_state_publisher robot_state_publisher"
-    joint_state_publisher_command = "rosrun joint_state_publisher joint_state_publisher"
-
-    os.system(state_publisher_command)
-    os.system(joint_state_publisher_command)
-
-if __name__ == '__main__':
-    try:
-        generate_launch_description()
-    except rospy.ROSInterruptException:
-        pass