diff --git a/ros/kxr_controller/launch/pooh_bringup.launch b/ros/kxr_controller/launch/pooh_bringup.launch
index d2418e1a..6c3d05ac 100644
--- a/ros/kxr_controller/launch/pooh_bringup.launch
+++ b/ros/kxr_controller/launch/pooh_bringup.launch
@@ -6,6 +6,11 @@
   <!-- 体のサーボ用の基板との通信とかに必要 -->
   <include file="$(find pooh_kxr_fullbody)/launch/pooh_controller.launch" />
 
+  <!-- i2cでarduino naano everyと通信 -->
+  <node name="joint_state_to_i2c"
+        pkg="kxr_controller"
+        type="i2c_joint_control.py" />
+
   <!-- story（どのストーリーか), section（何番目の話者か), trigger(何番目のセリフか)に応じて音声・眉(/eyebrow_status)・体（今は首だけ, /neck_motion）の動きを出す -->
   <node name="action_trigger_listener_number"
         pkg="kxr_controller"
diff --git a/ros/kxr_controller/scripts/i2c_joint_control.py b/ros/kxr_controller/scripts/i2c_joint_control.py
old mode 100644
new mode 100755