diff --git a/.bashrc b/.bashrc
new file mode 100644
index 0000000..e317d9c
--- /dev/null
+++ b/.bashrc
@@ -0,0 +1,2 @@
+source ~/ros2_humble/install/local_setup.bash
+source ~/adipu_ws/install/setup.bash
diff --git a/chaseTurt_launch.py b/chaseTurt_launch.py
new file mode 100644
index 0000000..19fbd88
--- /dev/null
+++ b/chaseTurt_launch.py
@@ -0,0 +1,16 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='adipu_turtlesim_controller',
+            executable='chaser_node',
+            name='turtle_chaser'
+        ),
+        Node(
+            package='adipu_turtlesim_controller',
+            executable='chaser_flipper_node',
+            name='turtle_flipper'
+        )
+    ])
\ No newline at end of file
diff --git a/initTurt_launch.py b/initTurt_launch.py
new file mode 100644
index 0000000..b4bade7
--- /dev/null
+++ b/initTurt_launch.py
@@ -0,0 +1,32 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess, TimerAction
+
+def generate_launch_description():
+  launchDesc = LaunchDescription([
+    Node(
+      package='turtlesim',
+      executable='turtlesim_node',
+      name='sim'
+    ),
+    Node(
+      package='adipu_turtlesim_controller',
+      executable='mouse_follow_node',
+      name='mouse'
+    )
+  ])
+        
+  launchDesc.add_action(
+    ExecuteProcess(
+      cmd=[
+        "ros2",
+        "service",
+        "call",
+        "/spawn",
+        "turtlesim/srv/Spawn",
+        "{x: 2.0, y: 2.0, theta: 0.0, name: 'turtle2'}"
+      ],
+      output='screen'
+    )
+  )
+  return launchDesc
\ No newline at end of file