diff --git a/launch/rsp.launch b/launch/rsp.launch
index 315aada..e39c53e 100644
--- a/launch/rsp.launch
+++ b/launch/rsp.launch
@@ -9,5 +9,5 @@
     <!-- Start the joint state publisher node -->
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
 
-    <!-- <node pkg="tf" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 odom base_link 40" /> -->
+    <node name="odom_publisher_fromTwist" pkg="cps_rmp220_support" type="odom_publisher_fromTwist.py" />
 </launch>