diff --git a/src/g2_2025_odometry_pkg/CMakeLists.txt b/src/g2_2025_odometry_pkg/CMakeLists.txt
index ee39bda..9defd0d 100644
--- a/src/g2_2025_odometry_pkg/CMakeLists.txt
+++ b/src/g2_2025_odometry_pkg/CMakeLists.txt
@@ -45,6 +45,10 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(DIRECTORY launch config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
diff --git a/src/g2_2025_odometry_pkg/launch/imu_sim.launch.xml b/src/g2_2025_odometry_pkg/launch/imu_sim.launch.xml
new file mode 100644
index 0000000..4203962
--- /dev/null
+++ b/src/g2_2025_odometry_pkg/launch/imu_sim.launch.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="params_file" default="$(find-pkg-share g2_2025_odometry_pkg)/config/opt.yaml"/>
+    
+    <node pkg="g2_2025_odometry_pkg" exec="imu_data_simulator_node" name="imu_data_simulator" output="screen">
+        <param from="$(var params_file)"/>
+    </node>
+</launch>
diff --git a/src/g2_2025_odometry_pkg/launch/wheel_sim.launch.xml b/src/g2_2025_odometry_pkg/launch/wheel_sim.launch.xml
new file mode 100644
index 0000000..8e82567
--- /dev/null
+++ b/src/g2_2025_odometry_pkg/launch/wheel_sim.launch.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="params_file" default="$(find-pkg-share g2_2025_odometry_pkg)/config/opt.yaml"/>
+    
+    <node pkg="g2_2025_odometry_pkg" exec="wheel_data_simulator_node" name="wheel_data_simulator" output="screen">
+        <param from="$(var params_file)"/>
+    </node>
+</launch>