diff --git a/launch/rw_three_sided.launch b/launch/rw_three_sided.launch
index d540d67..cf0356b 100644
--- a/launch/rw_three_sided.launch
+++ b/launch/rw_three_sided.launch
@@ -75,6 +75,8 @@
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diff --git a/launch/rw_three_sided_basler.launch b/launch/rw_three_sided_basler.launch
new file mode 100644
index 0000000..ab0d367
--- /dev/null
+++ b/launch/rw_three_sided_basler.launch
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+ ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_LEFT_ID).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_RIGHT_ID).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg BASLER_BACK_ID).png"]
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+ ["camera_left", "camera_right", "camera_back"]
+ ["points_seen_left", "points_seen_right", "points_seen_back"]
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+ [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)]
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+ ["camera_left", "camera_right", "camera_back"]
+ ["points_seen_left", "points_seen_right", "points_seen_back"]
+ ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"]
+ ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"]
+ ["ami_logging_left", "ami_logging_right", "ami_logging_back"]
+ ["ami_all_seq_info_left", "ami_all_seq_info_right", "ami_all_seq_info_back"]
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+ [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)]
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+ ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"]
+ ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"]
+ ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"]
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+ ["$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg left).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg right).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bs_uv_$(arg back).txt"]
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