diff --git a/launch/__pycache__/rover_launch.cpython-312.pyc b/launch/__pycache__/rover_launch.cpython-312.pyc
new file mode 100644
index 0000000..a7099b2
Binary files /dev/null and b/launch/__pycache__/rover_launch.cpython-312.pyc differ
diff --git a/launch/rover_launch.py b/launch/rover_launch.py
new file mode 100644
index 0000000..2e2a759
--- /dev/null
+++ b/launch/rover_launch.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def launch_setup(context, *args, **kwargs):
+    # Retrieve the resolved value of the launch argument 'mode'
+    mode = LaunchConfiguration('mode').perform(context)
+    nodes = []
+
+    if mode == 'anchor':
+        # Launch every node and pass "anchor" as the parameter
+        nodes.append(
+            Node(
+                package='arm_pkg',
+                executable='arm',  # change as needed
+                name='arm',
+                output='screen',
+                parameters=[{'launch_arg': mode}]
+            )
+        )
+        nodes.append(
+            Node(
+                package='core_pkg',
+                executable='core',  # change as needed
+                name='core',
+                output='screen',
+                parameters=[{'launch_arg': mode}]
+            )
+        )
+        # nodes.append(
+        #     Node(
+        #         package='bio_pkg',
+        #         executable='bio',  # change as needed
+        #         name='bio',
+        #         output='screen',
+        #         parameters=[{'launch_arg': mode}]
+        #     )
+        # )
+        nodes.append(
+            Node(
+                package='anchor_pkg',
+                executable='anchor',  # change as needed
+                name='anchor',
+                output='screen',
+                parameters=[{'launch_arg': mode}]
+            )
+        )
+    elif mode in ['arm', 'core', 'bio']:
+        # Only launch the node corresponding to the provided mode.
+        if mode == 'arm':
+            nodes.append(
+                Node(
+                    package='arm_pkg',
+                    executable='arm',
+                    name='arm',
+                    output='screen',
+                    parameters=[{'launch_arg': mode}]
+                )
+            )
+        elif mode == 'core':
+            nodes.append(
+                Node(
+                    package='core_pkg',
+                    executable='core',
+                    name='core',
+                    output='screen',
+                    parameters=[{'launch_arg': mode}]
+                )
+            )
+        # elif mode == 'bio':
+        #     nodes.append(
+        #         Node(
+        #             package='bio_pkg',
+        #             executable='bio',
+        #             name='bio',
+        #             output='screen',
+        #             parameters=[{'launch_arg': mode}]
+        #         )
+        #     )
+    else:
+        # If an invalid mode is provided, print an error.
+        # (You might want to raise an exception or handle it differently.)
+        print("Invalid mode provided. Choose one of: arm, core, bio, anchor.")
+
+    return nodes
+
+def generate_launch_description():
+    declare_arg = DeclareLaunchArgument(
+        'mode',
+        default_value='anchor',
+        description='Launch mode: arm, core, bio, or anchor'
+    )
+
+    return LaunchDescription([
+        declare_arg,
+        OpaqueFunction(function=launch_setup)
+    ])
diff --git a/src/anchor_pkg/anchor_pkg/__init__.py b/src/anchor_pkg/anchor_pkg/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/anchor_pkg/package.xml b/src/anchor_pkg/package.xml
new file mode 100644
index 0000000..8366b03
--- /dev/null
+++ b/src/anchor_pkg/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>anchor_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/src/anchor_pkg/resource/anchor_pkg b/src/anchor_pkg/resource/anchor_pkg
new file mode 100644
index 0000000..e69de29
diff --git a/src/anchor_pkg/setup.cfg b/src/anchor_pkg/setup.cfg
new file mode 100644
index 0000000..9a77caa
--- /dev/null
+++ b/src/anchor_pkg/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/anchor_pkg
+[install]
+install_scripts=$base/lib/anchor_pkg
diff --git a/src/anchor_pkg/setup.py b/src/anchor_pkg/setup.py
new file mode 100644
index 0000000..376e0a1
--- /dev/null
+++ b/src/anchor_pkg/setup.py
@@ -0,0 +1,24 @@
+from setuptools import find_packages, setup
+
+package_name = 'anchor_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='tristan',
+    maintainer_email='tristanmcginnis26@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)