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/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
diff --git a/launch/vrx_bringup.launch.xml b/launch/vrx_bringup.launch.xml
new file mode 100644
index 0000000..b459793
--- /dev/null
+++ b/launch/vrx_bringup.launch.xml
@@ -0,0 +1,8 @@
+<launch>
+  <!-- component container(動的にノードを載せられるExecutor)を用意 -->
+  <node_container pkg="rclcpp_components" exec="component_container_mt" name="vrx_bridge_container" namespace="vrx_bridge" args="">
+    <composable_node pkg="vrx_bridge" plugin="vrx_bridge::VRXBridgeComponent" name="vrx_bridge_component">
+    </composable_node>
+  </node_container>
+  <include file="$(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>