diff --git a/launch/twist_stamper.launch.py b/launch/twist_stamper.launch.py
new file mode 100644
index 0000000..c392903
--- /dev/null
+++ b/launch/twist_stamper.launch.py
@@ -0,0 +1,28 @@
+import os
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from pathlib import Path
+
+"""Generate a launch description for the twist_stamper node."""
+
+
+def generate_launch_description():
+    # Twist stamper.
+    twist_stamper = Node(
+        package="twist_stamper",
+        executable="twist_stamper",
+        parameters=[
+            {"frame_id": "base_link"},
+        ],
+        remappings=[
+            ("cmd_vel_in", "cmd_vel"),
+            ("cmd_vel_out", "ap/cmd_vel"),
+        ],
+    )
+
+    return LaunchDescription(
+        [
+            twist_stamper,
+        ]
+    )