diff --git a/tor_bringup/CMakeLists.txt b/tor_bringup/CMakeLists.txt
index 3f69b6e3a141fcd27a17a8779a846d193e1be59a..ca514ac12cd078166b7de196767623115e9f9898 100644
--- a/tor_bringup/CMakeLists.txt
+++ b/tor_bringup/CMakeLists.txt
@@ -10,3 +10,8 @@ catkin_package(
 #  DEPENDS system_lib
 )
 
+foreach(dir config launch)
+    install(DIRECTORY ${dir}/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
+
diff --git a/tor_bringup/config/tor_hardware.yaml b/tor_bringup/config/tor_hardware.yaml
index 239febe2e5245d007ac44b73e8ed731da77aa6b6..2002a4c3271ee2c3756e3236827843f4caa28ebe 100644
--- a/tor_bringup/config/tor_hardware.yaml
+++ b/tor_bringup/config/tor_hardware.yaml
@@ -2,8 +2,11 @@ actuators:
   raw_data:
     position_port: act_position
     effort_port: act_current
+    mode_port: act_control_mode
     position_cmd_port: ref_position
-    current_limit_cmd_port: ref_limit_current
+    effort_cmd_port: ref_current
+    mode_cmd_port: ref_control_mode
+    torque_sensor_port: act_torque
 
 e_stop:
   raw_data:
diff --git a/tor_bringup/launch/tor_bringup.launch b/tor_bringup/launch/tor_bringup.launch
new file mode 100644
index 0000000000000000000000000000000000000000..834271b4e0569b099aa8614112a02c668c4e5cd0
--- /dev/null
+++ b/tor_bringup/launch/tor_bringup.launch
@@ -0,0 +1,13 @@
+<launch>
+  <arg name="robot" default="full_ft_hey5"/>
+
+  <!-- Load default controllers -->
+  <include file="$(find tor_controller_configuration)/launch/tor_default_controllers.launch" />
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="50.0" />
+    <param name="tf_prefix" type="string" value="" />
+  </node>
+
+</launch>
diff --git a/tor_bringup/package.xml b/tor_bringup/package.xml
index aea454784bb3a77401178b84628ea58273032c20..0bb1ca3da4f732b9fec2e7a3c36ebf1d09e2bae1 100644
--- a/tor_bringup/package.xml
+++ b/tor_bringup/package.xml
@@ -4,47 +4,13 @@
   <version>0.0.0</version>
   <description>The tor_bringup package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="hilario@todo.todo">hilario</maintainer>
 
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>TODO</license>
 
-
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/tor_bringup</url> -->
-
-
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
-
   </export>
-</package>
\ No newline at end of file
+  
+</package>