diff --git a/src/rktl_autonomy/package.xml b/src/rktl_autonomy/package.xml
index 91c79bd1..79097d1c 100644
--- a/src/rktl_autonomy/package.xml
+++ b/src/rktl_autonomy/package.xml
@@ -11,6 +11,7 @@
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/src/rktl_autonomy/setup.py b/src/rktl_autonomy/setup.py
index 1a8870bb..76bc630a 100644
--- a/src/rktl_autonomy/setup.py
+++ b/src/rktl_autonomy/setup.py
@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = 'rktl_autonomy'
@@ -10,6 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_control/package.xml b/src/rktl_control/package.xml
index f5457fe9..7c541cd2 100644
--- a/src/rktl_control/package.xml
+++ b/src/rktl_control/package.xml
@@ -20,6 +20,7 @@
   <test_depend>ament_flake8</test_depend>
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/src/rktl_control/setup.py b/src/rktl_control/setup.py
index ee6c1cab..ece9e9a2 100644
--- a/src/rktl_control/setup.py
+++ b/src/rktl_control/setup.py
@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = 'rktl_control'
@@ -10,6 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_game/package.xml b/src/rktl_game/package.xml
index 0cc17a9c..7e31e3ee 100644
--- a/src/rktl_game/package.xml
+++ b/src/rktl_game/package.xml
@@ -19,6 +19,7 @@
   <depend>rosbridge_server</depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>rktl_msgs</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/src/rktl_game/setup.py b/src/rktl_game/setup.py
index 6b0dbe78..bd1fcc35 100644
--- a/src/rktl_game/setup.py
+++ b/src/rktl_game/setup.py
@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = 'rktl_game'
@@ -10,6 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_perception/package.xml b/src/rktl_perception/package.xml
index fb4c76f8..1ead5abd 100644
--- a/src/rktl_perception/package.xml
+++ b/src/rktl_perception/package.xml
@@ -28,6 +28,7 @@
 
   <exec_depend>camera_calibration</exec_depend>
   <exec_depend>rviz</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <!-- from "migrating interface package"-->
   
diff --git a/src/rktl_perception/setup.py b/src/rktl_perception/setup.py
index 49ec35b5..b3d7a96e 100644
--- a/src/rktl_perception/setup.py
+++ b/src/rktl_perception/setup.py
@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = 'rktl_perception'
@@ -10,6 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_planner/package.xml b/src/rktl_planner/package.xml
index 7de7a9e8..893ebfb8 100644
--- a/src/rktl_planner/package.xml
+++ b/src/rktl_planner/package.xml
@@ -30,6 +30,7 @@
     <build_depend>rktl_msgs</build_depend>
     <build_depend>message_generation</build_depend>
     <exec_depend>message_runtime</exec_depend>
+    <exec_depend>ros2launch</exec_depend>
 
     <export>
         <build_type>ament_python</build_type>
diff --git a/src/rktl_planner/setup.py b/src/rktl_planner/setup.py
index 76fec6ea..f257d02d 100644
--- a/src/rktl_planner/setup.py
+++ b/src/rktl_planner/setup.py
@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = 'rktl_planner'
@@ -10,6 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/rktl_sim/package.xml b/src/rktl_sim/package.xml
index 861e0221..08baea41 100644
--- a/src/rktl_sim/package.xml
+++ b/src/rktl_sim/package.xml
@@ -21,6 +21,7 @@
   <exec_depend>std_srvs</exec_depend>
   <exec_depend>PyBullet</exec_depend>
   <exec_depend>rktl_msgs</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/src/rktl_sim/setup.py b/src/rktl_sim/setup.py
index a8659ffa..87412f21 100644
--- a/src/rktl_sim/setup.py
+++ b/src/rktl_sim/setup.py
@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = 'rktl_sim'
@@ -10,6 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,