diff --git a/rb_ws/src/buggy/CMakeLists.txt b/rb_ws/src/buggy/CMakeLists.txt
index a8a5142..97cccb3 100644
--- a/rb_ws/src/buggy/CMakeLists.txt
+++ b/rb_ws/src/buggy/CMakeLists.txt
@@ -31,6 +31,7 @@ install(PROGRAMS
   scripts/controller/controller_node.py
   scripts/path_planner/path_planner.py
   scripts/simulator/engine.py
+  scripts/simulator/velocity_updater.py
   scripts/watchdog/watchdog_node.py
   scripts/buggy_state_converter.py
   scripts/serial/ros_to_bnyahaj.py
diff --git a/rb_ws/src/buggy/launch/sim_2d_single_velocity.xml b/rb_ws/src/buggy/launch/sim_2d_single_velocity.xml
index b24a3b3..edbdf92 100644
--- a/rb_ws/src/buggy/launch/sim_2d_single_velocity.xml
+++ b/rb_ws/src/buggy/launch/sim_2d_single_velocity.xml
@@ -1,26 +1,18 @@
 <launch>
 
     <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" namespace="SC"/>
-    <node pkg="buggy" exec="hello_world" name="hello_world" namespace="SC" />
-    <node pkg="buggy" exec="sim_single" name="SC_sim_single" namespace="SC">
+    <node pkg="buggy" exec="engine.py" name="SC_sim_single" namespace="SC">
         <param name="velocity" value="12"/>
         <param name="pose" value="Hill1_SC"/>
     </node>
-    <node pkg="buggy" exec="sim_single" name="NAND_sim_single" namespace="NAND">
-        <param name="velocity" value="12"/>
-        <param name="pose" value="Hill1_NAND"/>
+    <node pkg="buggy" exec="buggy_state_converter.py" name="SC_state_converter" namespace="SC"/>
+    <node pkg="buggy" exec="controller_node.py" name="SC_controller" namespace="SC">
+        <param name="dist" value="0.0"/>
+        <param name="traj_name" value="buggycourse_safe.json"/>
+        <param name="controller" value="stanley"/>
     </node>
-
-    <!-- velocity ui or updater nodes -->
-    <!-- <node pkg="buggy" exec="velocity_ui" name="SC_velocity_ui" namespace="SC">
-        <param name="init_vel" value="12"/>
-        <param name="buggy_name" value="SC"/>
-    </node> -->
     <node pkg="buggy" exec="velocity_updater" name="SC_velocity_updater" namespace="SC">
         <param name="init_vel" value="12"/>
         <param name="buggy_name" value="SC"/>
     </node>
-
-    <!-- <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
-    <node name="hello_world" pkg="buggy" type="hello_world" /> -->
 </launch>
\ No newline at end of file
diff --git a/rb_ws/src/buggy/setup.py b/rb_ws/src/buggy/setup.py
index 435bf8b..613c390 100644
--- a/rb_ws/src/buggy/setup.py
+++ b/rb_ws/src/buggy/setup.py
@@ -26,7 +26,6 @@
         'console_scripts': [
             'hello_world = buggy.hello_world:main',
             'sim_single = buggy.simulator.engine:main',
-            # 'velocity_ui = buggy.simulator.velocity_ui:main',
             'velocity_updater = buggy.simulator.velocity_updater:main',
             'watchdog = buggy.watchdog.watchdog_node:main'
         ],