diff --git a/selfie_launch/launch/race-sim-mpc.launch b/selfie_launch/launch/race-sim-mpc.launch
index a4bd304..eaede80 100644
--- a/selfie_launch/launch/race-sim-mpc.launch
+++ b/selfie_launch/launch/race-sim-mpc.launch
@@ -1,14 +1,4 @@
 <launch>
-  <arg name="path_file" />
-
-  <node pkg="path_server" type="path_server" name="path_server" args="$(arg path_file)" />
-
-  <node pkg="path_extractor" type="path_extractor.py" name="path_extractor">
-    <param name="path_points_backwards" type="int" value="0"/>
-    <param name="path_points_forwards" type="int" value="6" />
-    <param name="path_direction" type="bool" value="false" />
-  </node>
-
   <node pkg="mpc" type="mpc" name="mpc" output="screen">
     <param name="prediction_horizon" type="int" value="10" />
     <param name="delta_time" type="double" value="0.05" />
@@ -25,5 +15,4 @@
     <param name="diff_delta_weight" type="int" value="100" />
     <param name="diff_a_weight" type="int" value="10" />
   </node>
-
 </launch>
diff --git a/selfie_launch/launch/selfie-base.launch b/selfie_launch/launch/selfie-base.launch
index fd7f110..fe55152 100644
--- a/selfie_launch/launch/selfie-base.launch
+++ b/selfie_launch/launch/selfie-base.launch
@@ -18,7 +18,7 @@
 
   <node pkg="path_extractor" type="path_extractor.py" name="path_extractor">
     <param name="path_points_backwards" type="int" value="0"/>
-    <param name="path_points_forwards" type="int" value="5" />
+    <param name="path_points_forwards" type="int" value="6" />
     <param name="path_direction" type="bool" value="false" />
   </node>
 </launch>
diff --git a/selfie_launch/launch/selfie-simulator-base.launch b/selfie_launch/launch/selfie-simulator-base.launch
new file mode 100644
index 0000000..a22bbeb
--- /dev/null
+++ b/selfie_launch/launch/selfie-simulator-base.launch
@@ -0,0 +1,22 @@
+<launch>
+  <arg name="map_file" />
+  <arg name="path_file" />
+
+  <node pkg="map_server" type="map_server" name="map_server" args="$(arg map_file)" />
+  <node pkg="topic_tools" type="relay" name="laser_relay_left" args="left_laser scan"/>
+  <node pkg="topic_tools" type="relay" name="laser_relay_right" args="right_laser scan"/>
+  <node pkg="amcl" type="amcl" name="amcl" >
+    <param name="use_map_topic" type="bool" value="true" />
+  </node>
+
+  <node pkg="path_server" type="path_server" name="path_server" args="$(arg path_file)" />
+
+  <node pkg="path_extractor" type="path_extractor.py" name="path_extractor">
+    <param name="path_points_backwards" type="int" value="0"/>
+    <param name="path_points_forwards" type="int" value="6" />
+    <param name="path_direction" type="bool" value="false" />
+  </node>
+
+  <node pkg="selfie_control" type="cmd_converter.py" name="cmd_converter" />
+
+</launch>