diff --git a/rktl_control2/launch/ball.launch.py b/rktl_control2/launch/ball.launch.py
index 757202ca..22237402 100644
--- a/rktl_control2/launch/ball.launch.py
+++ b/rktl_control2/launch/ball.launch.py
@@ -9,13 +9,15 @@
 def generate_launch_description():
     ld = launch.LaunchDescription([
         launch_ros.actions.Node(
+            namespace='ball',
             package='rktl_control',
             executable='mean_odom_filter',
             name='mean_odom_filter',
             output='screen',
             parameters=[
-                get_package_share_directory(
-                    'rktl_control') + '/config/mean_odom_filter.yaml'
+                {
+                    launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/mean_odom_filter.yaml')
+                }
             ]
         )
     ])
diff --git a/rktl_control2/launch/car.launch.py b/rktl_control2/launch/car.launch.py
index b1d67a5b..11ec08fd 100644
--- a/rktl_control2/launch/car.launch.py
+++ b/rktl_control2/launch/car.launch.py
@@ -14,6 +14,55 @@ def generate_launch_description():
         launch.actions.DeclareLaunchArgument(
             name='use_particle_filter',
             default_value='true'
+        ),
+        launch.actions.GroupAction(
+            actions=[
+                launch_ros.actions.PushRosNamespace("cars/" + launch.substitutions.LaunchConfiguration("car_name")),
+
+                launch_ros.actions.Node(
+                    package='rktl_control',
+                    executable='particle_odom_filter',
+                    name='particle_odom_filter',
+                    output='screen',
+                    condition=launch.conditions.LaunchConfigurationEquals('use_particle_filter', True),
+                    parameters=[
+                        {
+                            launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/particle_odom_filter.yaml')
+                        },
+                        {
+                            'frame_ids/body': launch.substitutions.LaunchConfiguration('car_name')
+                        }
+                    ]
+                ),
+
+                launch_ros.actions.Node(
+                    package='rktl_control',
+                    executable='mean_odom_filter',
+                    name='mean_odom_filter',
+                    output='screen',
+                    condition=launch.conditions.LaunchConfigurationNotEquals('use_particle_filter', True),
+                    parameters=[
+                        {
+                            launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/mean_odom_filter.yaml')
+                        },
+                        {
+                            'frame_ids/body': launch.substitutions.LaunchConfiguration('car_name')
+                        }
+                    ]
+                ),
+
+                launch_ros.actions.Node(
+                    package='rktl_control',
+                    executable='controller',
+                    name='controller',
+                    output='screen',
+                    parameters=[
+                        {
+                            launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/controller.yaml')
+                        },
+                    ]
+                )
+            ]
         )
     ])
     return ld
diff --git a/rktl_control2/launch/hardware_interface.launch.py b/rktl_control2/launch/hardware_interface.launch.py
index d0960cb1..23ba6a08 100644
--- a/rktl_control2/launch/hardware_interface.launch.py
+++ b/rktl_control2/launch/hardware_interface.launch.py
@@ -13,8 +13,9 @@ def generate_launch_description():
             executable='serial_node.py',
             name='hardware_interface',
             parameters=[
-                get_package_share_directory(
-                    'rktl_control') + '/config/hardware_interface.yaml'
+                {
+                    launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/hardware_interface.yaml')
+                }
             ]
         )
     ])
diff --git a/rktl_control2/launch/keyboard_control.launch.py b/rktl_control2/launch/keyboard_control.launch.py
index 6842aeaf..74251cbc 100644
--- a/rktl_control2/launch/keyboard_control.launch.py
+++ b/rktl_control2/launch/keyboard_control.launch.py
@@ -12,6 +12,7 @@ def generate_launch_description():
             default_value='car0'
         ),
         launch_ros.actions.Node(
+            namespace=launch.substitutions.PathJoinSubstitution('cars/', launch_ros.substitutions.FindPackageShare('car_name')),
             package='rktl_control',
             executable='keyboard_interface',
             name='keyboard_interface',
diff --git a/rktl_control2/launch/xbox_control.launch.py b/rktl_control2/launch/xbox_control.launch.py
index 7ee0f430..6e512bdb 100644
--- a/rktl_control2/launch/xbox_control.launch.py
+++ b/rktl_control2/launch/xbox_control.launch.py
@@ -18,7 +18,54 @@ def generate_launch_description():
         launch.actions.DeclareLaunchArgument(
             name='delay',
             default_value='0.1'
+        ),
+        launch.actions.GroupAction(
+            actions=[
+                launch_ros.actions.PushRosNamespace("cars/" + launch.substitutions.LaunchConfiguration("car_name")),
+
+                launch_ros.actions.Node(
+                    package='joy',
+                    executable='joy_node',
+                    name='joy_node',
+                    output='screen',
+                    parameters=[
+                        {
+                            'dev': launch.substitutions.LaunchConfiguration('device')
+                        },
+                        {
+                            'default_trig_val': 'true'
+                        }
+                    ]
+                ),
+                launch_ros.actions.Node(
+                    package='rktl_control',
+                    executable='xbox_interface',
+                    name='xbox_interface',
+                    output='screen',
+                    parameters=[
+                        {
+                            'base_throttle': '0.75'
+                        },
+                        {
+                            'boost_throttle': '1.25'
+                        },
+                        {
+                            'cooldown_ratio': '3'
+                        },
+                        {
+                            'max_boost': '2'
+                        }
+                    ],
+                    actions=[
+                        launch_ros.actions.SetRemap(
+                            src="joy",
+                            dst="joy)mux",
+                        )
+                    ]
+                )
+            ]
         )
+
     ])
     return ld