diff --git a/CMakeLists.txt b/CMakeLists.txt
index d6eece7..82716be 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,6 +23,10 @@ target_link_libraries(vrx_bridge_node
   vrx_bridge_component
 )
 
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
diff --git a/include/vrx_bridge/vrx_bridge_component.hpp b/include/vrx_bridge/vrx_bridge_component.hpp
index c4573c7..5d1527e 100644
--- a/include/vrx_bridge/vrx_bridge_component.hpp
+++ b/include/vrx_bridge/vrx_bridge_component.hpp
@@ -23,35 +23,25 @@ extern "C" {
 // demos/composition/include/composition/visibility_control.h at https://github.com/ros2/demos
 #if defined _WIN32 || defined __CYGWIN__
 #ifdef __GNUC__
-#define VRX_BRIDGE_COMPONENT_EXPORT \
-  __attribute__((dllexport))
-#define VRX_BRIDGE_COMPONENT_IMPORT \
-  __attribute__((dllimport))
+#define VRX_BRIDGE_COMPONENT_EXPORT __attribute__((dllexport))
+#define VRX_BRIDGE_COMPONENT_IMPORT __attribute__((dllimport))
 #else
-#define VRX_BRIDGE_COMPONENT_EXPORT \
-  __declspec(dllexport)
-#define VRX_BRIDGE_COMPONENT_IMPORT \
-  __declspec(dllimport)
+#define VRX_BRIDGE_COMPONENT_EXPORT __declspec(dllexport)
+#define VRX_BRIDGE_COMPONENT_IMPORT __declspec(dllimport)
 #endif
 #ifdef VRX_BRIDGE_COMPONENT_BUILDING_DLL
-#define VRX_BRIDGE_COMPONENT_PUBLIC \
-  VRX_BRIDGE_COMPONENT_EXPORT
+#define VRX_BRIDGE_COMPONENT_PUBLIC VRX_BRIDGE_COMPONENT_EXPORT
 #else
-#define VRX_BRIDGE_COMPONENT_PUBLIC \
-  VRX_BRIDGE_COMPONENT_IMPORT
+#define VRX_BRIDGE_COMPONENT_PUBLIC VRX_BRIDGE_COMPONENT_IMPORT
 #endif
-#define VRX_BRIDGE_COMPONENT_PUBLIC_TYPE \
-  VRX_BRIDGE_COMPONENT_PUBLIC
+#define VRX_BRIDGE_COMPONENT_PUBLIC_TYPE VRX_BRIDGE_COMPONENT_PUBLIC
 #define VRX_BRIDGE_COMPONENT_LOCAL
 #else
-#define VRX_BRIDGE_COMPONENT_EXPORT \
-  __attribute__((visibility("default")))
+#define VRX_BRIDGE_COMPONENT_EXPORT __attribute__((visibility("default")))
 #define VRX_BRIDGE_COMPONENT_IMPORT
 #if __GNUC__ >= 4
-#define VRX_BRIDGE_COMPONENT_PUBLIC \
-  __attribute__((visibility("default")))
-#define VRX_BRIDGE_COMPONENT_LOCAL \
-  __attribute__((visibility("hidden")))
+#define VRX_BRIDGE_COMPONENT_PUBLIC __attribute__((visibility("default")))
+#define VRX_BRIDGE_COMPONENT_LOCAL __attribute__((visibility("hidden")))
 #else
 #define VRX_BRIDGE_COMPONENT_PUBLIC
 #define VRX_BRIDGE_COMPONENT_LOCAL
@@ -63,11 +53,10 @@ extern "C" {
 #endif
 
 #include <geographic_msgs/msg/geo_pose_stamped.hpp>
-#include <sensor_msgs/msg/imu.hpp>
-#include <sensor_msgs/msg/nav_sat_fix.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <rclcpp/rclcpp.hpp>
-
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
 
 namespace vrx_bridge
 {
diff --git a/launch/vrx_bringup.launch.xml b/launch/vrx_bringup.launch.xml
new file mode 100644
index 0000000..b459793
--- /dev/null
+++ b/launch/vrx_bringup.launch.xml
@@ -0,0 +1,8 @@
+<launch>
+  <!-- component container(動的にノードを載せられるExecutor)を用意 -->
+  <node_container pkg="rclcpp_components" exec="component_container_mt" name="vrx_bridge_container" namespace="vrx_bridge" args="">
+    <composable_node pkg="vrx_bridge" plugin="vrx_bridge::VRXBridgeComponent" name="vrx_bridge_component">
+    </composable_node>
+  </node_container>
+  <include file="$(find-pkg-share robotx_ekf)/launch/ekf.launch.xml"/>
+</launch>
diff --git a/package.xml b/package.xml
index ab16c79..3641e48 100644
--- a/package.xml
+++ b/package.xml
@@ -14,8 +14,9 @@
   <depend>geographic_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>launch</depend>
 
-  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ouxt_lint_auto</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/src/vrx_bridge_component.cpp b/src/vrx_bridge_component.cpp
index bbd162b..42dd6df 100644
--- a/src/vrx_bridge_component.cpp
+++ b/src/vrx_bridge_component.cpp
@@ -16,8 +16,7 @@
 
 namespace vrx_bridge
 {
-VRXBridgeComponent::VRXBridgeComponent(
-  const rclcpp::NodeOptions & options)
+VRXBridgeComponent::VRXBridgeComponent(const rclcpp::NodeOptions & options)
 : Node("vrx_bridge", options)
 {
   gps_sub_ = this->create_subscription<sensor_msgs::msg::NavSatFix>(
@@ -37,8 +36,7 @@ VRXBridgeComponent::VRXBridgeComponent(
   goal_pub_ = this->create_publisher<geometry_msgs::msg::PoseStamped>("/move_base_simple/goal", 1);
 }
 
-void VRXBridgeComponent::GPStopic_callback(
-  const sensor_msgs::msg::NavSatFix::SharedPtr msg)
+void VRXBridgeComponent::GPStopic_callback(const sensor_msgs::msg::NavSatFix::SharedPtr msg)
 {
   geographic_msgs::msg::GeoPoseStamped gps;
   gps.header = msg->header;
@@ -49,8 +47,7 @@ void VRXBridgeComponent::GPStopic_callback(
   gps_pub_->publish(gps);
 }
 
-void VRXBridgeComponent::Imutopic_callback(
-  const sensor_msgs::msg::Imu::SharedPtr msg)
+void VRXBridgeComponent::Imutopic_callback(const sensor_msgs::msg::Imu::SharedPtr msg)
 {
   sensor_msgs::msg::Imu imu;
   imu.header = msg->header;
@@ -59,8 +56,7 @@ void VRXBridgeComponent::Imutopic_callback(
   imu_pub_->publish(imu);
 }
 
-void VRXBridgeComponent::Goaltopic_callback(
-  const geometry_msgs::msg::PoseStamped::SharedPtr msg)
+void VRXBridgeComponent::Goaltopic_callback(const geometry_msgs::msg::PoseStamped::SharedPtr msg)
 {
   geometry_msgs::msg::PoseStamped goal;
   goal.header = msg->header;
diff --git a/src/vrx_bridge_node.cpp b/src/vrx_bridge_node.cpp
index b532ef0..299b420 100644
--- a/src/vrx_bridge_node.cpp
+++ b/src/vrx_bridge_node.cpp
@@ -20,8 +20,7 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   rclcpp::NodeOptions options;
-  auto component =
-    std::make_shared<vrx_bridge::VRXBridgeComponent>(options);
+  auto component = std::make_shared<vrx_bridge::VRXBridgeComponent>(options);
   rclcpp::spin(component);
   rclcpp::shutdown();
   return 0;