diff --git a/launch/bar.launch b/launch/bar.launch
new file mode 100644
index 0000000..5598bb4
--- /dev/null
+++ b/launch/bar.launch
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="host" default="192.168.1.110"/>
+    <arg name="port" default="8080"/>
+    <node pkg="canopy_client" type="client_node.py" name="bar_client_node" output="screen">
+        <param name="name" value="bar"/>
+        <param name="host" value="$(arg host)"/>
+        <param name="port" value="$(arg port)"/>
+        <param name="private_key" value="PsFXjmWpszr6acSKL" />
+        <param name="description" value="bar robot" />
+        <rosparam>
+            publishing:
+                - /state
+                - /filtered_state
+                - /test_string
+                - /test_string2
+                - /test_string3
+            types:
+                - geometry_msgs/Point
+                - geometry_msgs/PointStamped
+                - std_msgs/String
+                - std_msgs/String
+                - std_msgs/String
+            trusted:
+                - ".*"
+                - ".*"
+                - ".*"
+                - ".*"
+                - ".*"
+        </rosparam>
+    </node>
+
+    <node pkg="rostopic" type="rostopic" name="state_pub"
+        args="pub -r 200 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/>
+    <node pkg="rostopic" type="rostopic" name="filtered_state_pub"
+        args="pub -sr 200 /filtered_state geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: {x: 2.0, y: 1.0, z: 1.0}}'" />
+    <node pkg="rostopic" type="rostopic" name="string_pub"
+        args="pub -r 200 /test_string std_msgs/String 'test'" />
+    <node pkg="rostopic" type="rostopic" name="string_pub2"
+        args="pub -r 200 /test_string2 std_msgs/String 'test2'" />
+    <node pkg="rostopic" type="rostopic" name="string_pub3"
+        args="pub -r 200 /test_string3 std_msgs/String 'test3'" />
+    <node pkg="tf" type="static_transform_publisher"
+        name="tf_test" args="1 0 0 0 0 0 1 world base_link 100" />
+    <!--<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+        <param name="video_device" value="/dev/video0" />
+        <param name="image_width" value="640" />
+        <param name="image_height" value="480" />
+        <param name="pixel_format" value="yuyv" />
+        <param name="camera_frame_id" value="usb_cam" />
+        <param name="io_method" value="mmap"/>
+    </node>-->
+    <!-- <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> -->
+    <!--     <remap from="image" to="/qux/usb_cam/image_raw"/> -->
+    <!--     <param name="autosize" value="true" /> -->
+    <!-- </node> -->
+
+</launch>
diff --git a/launch/foo.launch b/launch/foo.launch
new file mode 100644
index 0000000..ba47887
--- /dev/null
+++ b/launch/foo.launch
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="host" default="192.168.1.110"/>
+    <arg name="port" default="8080"/>
+    <node pkg="canopy_client" type="client_node.py" name="foo_client_node" output="screen">
+        <param name="name" value="foo"/>
+        <param name="host" value="$(arg host)"/>
+        <param name="port" value="$(arg port)"/>
+        <param name="private_key" value="PsFXjmWpszr6acSKL" />
+        <param name="description" value="foo robot" />
+        <rosparam>
+            publishing:
+                - /state
+                - /filtered_state
+                - /test_string
+                - /test_string2
+                - /test_string3
+            types:
+                - geometry_msgs/Point
+                - geometry_msgs/PointStamped
+                - std_msgs/String
+                - std_msgs/String
+                - std_msgs/String
+            trusted:
+                - ".*"
+                - ".*"
+                - ".*"
+                - ".*"
+                - ".*"
+        </rosparam>
+    </node>
+
+    <node pkg="rostopic" type="rostopic" name="state_pub"
+        args="pub -r 200 /state geometry_msgs/Point '{x: 1, y: 1, z: 0}'"/>
+    <node pkg="rostopic" type="rostopic" name="filtered_state_pub"
+        args="pub -sr 200 /filtered_state geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: {x: 2.0, y: 1.0, z: 1.0}}'" />
+    <node pkg="rostopic" type="rostopic" name="string_pub"
+        args="pub -r 200 /test_string std_msgs/String 'test'" />
+    <node pkg="rostopic" type="rostopic" name="string_pub2"
+        args="pub -r 200 /test_string2 std_msgs/String 'test2'" />
+    <node pkg="rostopic" type="rostopic" name="string_pub3"
+        args="pub -r 200 /test_string3 std_msgs/String 'test3'" />
+    <node pkg="tf" type="static_transform_publisher"
+        name="tf_test" args="1 0 0 0 0 0 1 world base_link 100" />
+    <!--<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+        <param name="video_device" value="/dev/video0" />
+        <param name="image_width" value="640" />
+        <param name="image_height" value="480" />
+        <param name="pixel_format" value="yuyv" />
+        <param name="camera_frame_id" value="usb_cam" />
+        <param name="io_method" value="mmap"/>
+    </node>-->
+    <!-- <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> -->
+    <!--     <remap from="image" to="/qux/usb_cam/image_raw"/> -->
+    <!--     <param name="autosize" value="true" /> -->
+    <!-- </node> -->
+
+</launch>