diff --git a/yacyac_bringup/launch/robot_description.launch.py b/yacyac_bringup/launch/robot_description.launch.py
index 8e18ba7..8c690c7 100644
--- a/yacyac_bringup/launch/robot_description.launch.py
+++ b/yacyac_bringup/launch/robot_description.launch.py
@@ -10,7 +10,7 @@
 
 
 def generate_launch_description():
-    # s2lidar package
+    # g2lidar package
     g2lidar_prefix = get_package_share_directory("ydlidar_ros2_driver")
     start_g2lidar_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(os.path.join(g2lidar_prefix, "launch", "ydlidar_launch.py"))
@@ -26,6 +26,11 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(os.path.join(yacyac_camera_prefix, "launch", "camera.launch.py"))
     )
 
+    yacyac_servo_prefix = get_package_share_directory("yacyac_servo")
+    start_yacyac_servo_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(yacyac_servo_prefix, "launch", "yacyac_servo.launch.py"))
+    )
+
 
 
     # # rosbridge websocket cmd
@@ -77,6 +82,7 @@ def generate_launch_description():
             start_yacyac_cmd,
             start_web_bridge_cmd,
             start_yacyac_camera_cmd,
+            start_yacyac_servo_cmd,
             
             Node(
                 package="yacyac_io",
diff --git a/yacyac_servo/launch/yacyac_servo.launch.py b/yacyac_servo/launch/yacyac_servo.launch.py
index 9f5bcb8..b7580f6 100644
--- a/yacyac_servo/launch/yacyac_servo.launch.py
+++ b/yacyac_servo/launch/yacyac_servo.launch.py
@@ -6,8 +6,8 @@
 def generate_launch_description():
     servo_ctrl_node = Node(
         package='yacyac_servo',
-        executable='servo_ctrl',
-        name='servo_ctrl_node',
+        executable='action_servo_ctrl',
+        name='action_servo_ctrl_node',
         output='screen',
     )
     read_write_node = Node(