diff --git a/launch/display_hros5.launch~ b/launch/display_hros5.launch~
new file mode 100644
index 0000000..da73581
--- /dev/null
+++ b/launch/display_hros5.launch~
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<launch>
+	<include file="$(find hros5_description)/launch/hros5_urdf.launch" />
+	<arg name="model" />
+	<arg name="gui" default="true" />
+	<param name="use_gui" value="$(arg gui)" />
+	<!-- Start state publishers -->
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<!-- Start RVIZ -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find hros5_description)/config/hros5.rviz" />
+</launch>
\ No newline at end of file
diff --git a/launch/jimmy.launch b/launch/jimmy.launch
index d2e0fcd..415c383 100644
--- a/launch/jimmy.launch
+++ b/launch/jimmy.launch
@@ -70,5 +70,6 @@
 	
 	<node name="motion_saver" pkg="jimmy" type="motion_saver.py" output="screen" launch-prefix="xterm -e"/>
 	<node name="motion_player" pkg="jimmy" type="motion_player.py" output="screen" launch-prefix="xterm -e"/>
+	<node name="joint_mapper" pkg="jimmy" type="joint_states2motor_states.py" output="screen" launch-prefix="xterm -e"/>
 	<node name="keyboard" pkg="keyboard" type="keyboard"/>
 </launch>
\ No newline at end of file