diff --git a/delta_robot/launch/delta_motion_planner.launch.xml b/delta_robot/launch/delta_motion_planner.launch.xml
deleted file mode 100644
index 891e51c..0000000
--- a/delta_robot/launch/delta_motion_planner.launch.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-  <node pkg="deltarobot_motion_planner" exec="delta_motion_planner" name="delta_motion_planner" />
-  <include file="$(find-pkg-share deltarobot_trajectory_generator)/launch/traj_gen.launch.xml"/>
-  <include file="$(find-pkg-share deltarobot_kinematics)/launch/kinematics.launch.xml"/>
-  <include file="$(find-pkg-share deltarobot_motor_control)/launch/motor_control.launch.xml"/>
-  <include file="$(find-pkg-share delta_robot_sensors)/launch/sensors.launch.xml"/>
-</launch>
\ No newline at end of file
diff --git a/delta_robot/launch/delta_robot.launch.py b/delta_robot/launch/delta_robot.launch.py
index 6c118ca..559668c 100644
--- a/delta_robot/launch/delta_robot.launch.py
+++ b/delta_robot/launch/delta_robot.launch.py
@@ -1 +1,57 @@
-# Launch file for Delta Robot
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+from launch.substitutions import PathJoinSubstitution
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='delta_robot',
+            executable='kinematics',
+            name='kinematics',
+            output='screen',
+            parameters=[
+                PathJoinSubstitution([
+                    get_package_share_directory('delta_robot'),
+                    'config',
+                    'delta_config.yaml'
+                ])
+            ],
+        ),
+        Node(
+            package='delta_robot',
+            executable='motion_planner',
+            name='motion_planner',
+            output='screen',
+        ),
+        Node(
+            package='delta_robot',
+            executable='motor_controller',
+            name='motor_controller',
+            output='screen',
+        ),
+        Node(
+            package='delta_robot',
+            executable='range_scanner',
+            name='range_scanner',
+            output='screen',
+        ),
+        Node(
+            package='delta_robot',
+            executable='trajectory_generator',
+            name='trajectory_generator',
+            output='screen',
+        ),
+        IncludeLaunchDescription(
+            AnyLaunchDescriptionSource(
+                PathJoinSubstitution([
+                    get_package_share_directory('delta_robot_sensors'),
+                    'launch',
+                    'sensors.launch.xml'
+                ])
+            )
+        )
+    ])
diff --git a/delta_robot/launch/kinematics.launch.xml b/delta_robot/launch/kinematics.launch.xml
deleted file mode 100644
index e8cd2d2..0000000
--- a/delta_robot/launch/kinematics.launch.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <node pkg="deltarobot_kinematics" exec="kinematics" name="delta_kinematics" >
-    <param from="$(find-pkg-share deltarobot_kinematics)/config/delta_config.yaml"/>
-  </node>
-</launch>
\ No newline at end of file
diff --git a/delta_robot/launch/motor_control.launch.xml b/delta_robot/launch/motor_control.launch.xml
deleted file mode 100644
index 9213bef..0000000
--- a/delta_robot/launch/motor_control.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <node pkg="deltarobot_motor_control" exec="delta_motor_control" name="delta_motor_control" output="screen"/>
-</launch>
\ No newline at end of file
diff --git a/delta_robot/launch/traj_gen.launch.xml b/delta_robot/launch/traj_gen.launch.xml
deleted file mode 100644
index c0f9868..0000000
--- a/delta_robot/launch/traj_gen.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <node pkg="deltarobot_trajectory_generator" exec="delta_trajectory_generator" name="delta_trajectory_generator" />
-</launch>
\ No newline at end of file