diff --git a/launch/robot_scan_filter.launch b/launch/robot_scan_filter.launch
new file mode 100644
index 0000000..863e304
--- /dev/null
+++ b/launch/robot_scan_filter.launch
@@ -0,0 +1,9 @@
+<launch>
+    <!-- Include the configuration file -->
+    <param name="box_filter_config" command="$(find cps_rmp220_support)/config/box_filter.yaml" />
+
+    <!-- Launch the laser_filters node -->
+    <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="scan_to_scan_filter_chain" output="screen">
+        <rosparam command="load" file="$(find cps_rmp220_support)/config/box_filter.yaml" />
+    </node>
+</launch>
diff --git a/launch/rsp.launch.py b/launch/rsp.launch.py
new file mode 100644
index 0000000..56d686b
--- /dev/null
+++ b/launch/rsp.launch.py
@@ -0,0 +1,49 @@
+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