diff --git a/src/ezbot_robot/launch/real_robot.launch.py b/src/ezbot_robot/launch/real_robot.launch.py
index cffad21..95f3c7c 100644
--- a/src/ezbot_robot/launch/real_robot.launch.py
+++ b/src/ezbot_robot/launch/real_robot.launch.py
@@ -106,19 +106,10 @@ def generate_launch_description():
     )
 
 
-    # don't know what the parameters do
-    imu_complementary_filter = Node(
-        package='imu_complementary_filter',
-        executable='complementary_filter_node',
-        name='complementary_filter_gain_node',
-        output='screen',
-        parameters=[
-            {'do_bias_estimation': True},
-            {'do_adaptive_gain': True},
-            {'use_mag': False},
-            {'gain_acc': 0.01},
-            {'gain_mag': 0.01},
-        ],
+    lidar_with_mgr = Node(
+        package='ldlidar_node',
+        executable='ldlidar_with_mgr.py',
+        output='screen'
     )
 
     delayed_imu_filter = TimerAction(
@@ -142,6 +133,7 @@ def generate_launch_description():
         imu_node,
         delayed_imu_filter,
         delayed_actuators_spawner,
+        lidar_with_mgr,
         #joystick,
         
     ])
\ No newline at end of file