diff --git a/launch/rsp.launch.py b/launch/rsp.launch.py
index 5f95246..02184ce 100644
--- a/launch/rsp.launch.py
+++ b/launch/rsp.launch.py
@@ -31,6 +31,14 @@ def generate_launch_description():
         #namespace=namespace
     )
 
+    node_joint_state_publisher = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        output='screen',
+        parameters=[params],
+        #namespace=namespace
+    )
+
 
     # Launch!
     return LaunchDescription([
@@ -43,5 +51,6 @@ def generate_launch_description():
             default_value='true',
             description='Use ros2_control if true'),
 
-        node_robot_state_publisher
+        node_robot_state_publisher,
+        node_joint_state_publisher
     ])