diff --git a/src/ezbot_descr_simul/launch/real_robot.launch.py b/src/ezbot_descr_simul/launch/real_robot.launch.py
index 1c45796..964dd27 100644
--- a/src/ezbot_descr_simul/launch/real_robot.launch.py
+++ b/src/ezbot_descr_simul/launch/real_robot.launch.py
@@ -5,19 +5,24 @@
 
 
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import IncludeLaunchDescription, TimerAction
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessStart
 from launch.actions import DeclareLaunchArgument
 import launch_ros.actions
 from launch.substitutions import LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 from launch_ros.actions import Node
+from launch.substitutions import Command
 
 
 
 def generate_launch_description():
 
 
+    logger = LaunchConfiguration('log_level')  
+
     # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled
     # !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!
 
@@ -26,19 +31,27 @@ def generate_launch_description():
     rsp = IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([os.path.join(
                     get_package_share_directory(package_name),'launch','rsp.launch.py'
-                )]), launch_arguments={'use_sim_time': 'true'}.items()
+                )]), launch_arguments={'use_sim_time': 'false'}.items()
     )
 
     joystick = IncludeLaunchDescription(
-                PythonLaunchDescriptionSource([os.path.join(
-                       get_package_share_directory("teleop_twist_joy"),'launch','teleop-launch.py'
-                  )]), launch_arguments={'config_filepath': '/home/vincent/joystick.yaml'}.items())
-
-
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory("teleop_twist_joy"),'launch','teleop-launch.py'
+        )]), launch_arguments={'config_filepath': '/home/vincent/joystick.yaml','joy_vel':'/omnidirectional_controller/cmd_vel_unstamped'}.items(),
+        
+    )
 
+    homemade_controller = Node(
+        package='ezbot_descr_simul',
+        executable='homemade_controller',
+        name='homemade_controller',
+        output='screen',
+        parameters=[{'log_level': logger}]
+    )
 
-    # Launch them all!
     return LaunchDescription([
         rsp,
-        joystick
+        joystick,
+        homemade_controller
+        
     ])
\ No newline at end of file