diff --git a/config/T-29.yaml b/config/T-29.yaml
new file mode 100644
index 0000000..92756c0
--- /dev/null
+++ b/config/T-29.yaml
@@ -0,0 +1,17 @@
+arctic_bot/joy_control:
+  ros__parameters:
+    speed_x_axis: 4
+    speed_y_axis: 3
+    speed_throttle_btn: 7
+
+    crosshair_plus_x_btn: -1
+    crosshair_minus_x_btn: -1
+    crosshair_plus_y_btn: -1
+    crosshair_minus_y_btn: -1
+
+    crosshair_step: 0.05
+
+    crosshair_x_axis: 6
+    crosshair_y_axis: 7
+
+
diff --git a/config/joy_config.yaml b/config/joy_config.yaml
new file mode 100644
index 0000000..f15c0fd
--- /dev/null
+++ b/config/joy_config.yaml
@@ -0,0 +1,14 @@
+arctic_bot/joy:
+  ros__parameters:
+    # to list connected devices, use:
+    # ros2 run joy joy_enumerate_devices
+    device_id: 0
+    # device_name can used instead of device_id. device_name takes precedence
+    device_name: ""
+    # in [0.; 1.0]
+    deadzone: 0.3
+    # set autorepeat to 0 to disable
+    autorepeat_rate: 20.0
+    sticky_buttons: false
+    # rate control
+    coalesce_interval_ms: 1
diff --git a/config/unity.rviz b/config/unity.rviz
index 3485ddc..e181b54 100644
--- a/config/unity.rviz
+++ b/config/unity.rviz
@@ -3,9 +3,7 @@ Panels:
     Help Height: 87
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
+      Expanded: ~
       Splitter Ratio: 0.5
     Tree Height: 696
   - Class: rviz_common/Selection
@@ -73,7 +71,58 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /fire_extinguisher_emulator/fire_extinguisher_image
+        Value: /arctic_bot/crosshair_image
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        back_left_wheel_link:
+          Value: true
+        back_right_wheel_link:
+          Value: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camera_link:
+          Value: true
+        front_left_wheel_link:
+          Value: true
+        front_right_wheel_link:
+          Value: true
+        laser_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                back_left_wheel_link:
+                  {}
+                back_right_wheel_link:
+                  {}
+                camera_link:
+                  {}
+                front_left_wheel_link:
+                  {}
+                front_right_wheel_link:
+                  {}
+                laser_link:
+                  {}
+      Update Interval: 0
       Value: true
   Enabled: true
   Global Options:
@@ -121,7 +170,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 10
+      Distance: 8.9044189453125
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
diff --git a/launch/joy_control.launch.py b/launch/joy_control.launch.py
new file mode 100644
index 0000000..5449ce8
--- /dev/null
+++ b/launch/joy_control.launch.py
@@ -0,0 +1,69 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+    TextSubstitution,
+)
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+
+def generate_launch_description():
+    pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
+
+
+    # Launch arguments
+    launch_args = [
+        DeclareLaunchArgument(
+            "use_sim_time",
+            description="Use clock from simulation",
+            default_value="True",
+        ),
+        DeclareLaunchArgument(
+            "joy_model",
+            description="Used joystick model (default is T-29)",
+            default_value="T-29.yaml",
+        ),
+        DeclareLaunchArgument(
+            "namespace", default_value="arctic_bot", description="Top-level namespace"
+        ),
+    ]
+
+    joy_config = PathJoinSubstitution([pkg_unity_robot_controller, "config", "joy_config.yaml"])
+
+    model = LaunchConfiguration("joy_model")
+    joy_params = PathJoinSubstitution([pkg_unity_robot_controller,
+                                       "config",
+                                       model
+                                       ])
+
+    joy_node = Node(
+        package="joy",
+        executable="joy_node",
+        name="joy",
+        namespace=LaunchConfiguration("namespace"),
+        output="both",
+        parameters=[
+            ParameterFile(joy_config),
+        ],
+    )
+
+    joy_control_node = Node(
+        package="unity_robot_controller",
+        executable="joy_control_node",
+        name="joy_control",
+        namespace=LaunchConfiguration("namespace"),
+            output="both",
+            parameters=[
+                ParameterFile(joy_params),
+            ],
+    )
+
+    return LaunchDescription(
+        launch_args
+        + [
+            joy_node,
+            joy_control_node,
+        ]
+    )
diff --git a/launch/unity.launch.py b/launch/unity.launch.py
index f859944..f884c93 100644
--- a/launch/unity.launch.py
+++ b/launch/unity.launch.py
@@ -54,6 +54,7 @@ def generate_launch_description():
     fe_emulator = Node(
         package="unity_robot_controller",
         executable="fire_extinguisher_emulator_node",
+        namespace=LaunchConfiguration("namespace"),
         parameters=[
             {"use_sim_time": LaunchConfiguration("use_sim_time")},
         ],
diff --git a/setup.py b/setup.py
index c3b0999..84f3d5a 100644
--- a/setup.py
+++ b/setup.py
@@ -28,7 +28,8 @@ setup(
     },
     entry_points={
         'console_scripts': [
-            'fire_extinguisher_emulator_node = unity_robot_controller.fire_extinguisher_emulator:main'
+            'fire_extinguisher_emulator_node = unity_robot_controller.fire_extinguisher_emulator:main',
+            'joy_control_node = unity_robot_controller.joy_control_node:main'
         ],
     },
 )
diff --git a/unity_robot_controller/fire_extinguisher_emulator.py b/unity_robot_controller/fire_extinguisher_emulator.py
index 20738f2..7675099 100644
--- a/unity_robot_controller/fire_extinguisher_emulator.py
+++ b/unity_robot_controller/fire_extinguisher_emulator.py
@@ -24,8 +24,8 @@ class FireExtinguisherEmulatorNode(Node):
         self.crosshair_color = self.get_parameter('crosshair_color').value
 
         # Publishers
-        self.fire_ext_image_pub = self.create_publisher(Image, '~/fire_extinguisher_image', 10)
-        self.fire_ext_vector_pub = self.create_publisher(Vector3, '~/fire_extinguisher_vector', 10)
+        self.fire_ext_image_pub = self.create_publisher(Image, 'crosshair_image', 10)
+        self.fire_ext_vector_pub = self.create_publisher(Vector3, 'crosshair_vector', 10)
 
         # State variables
         self.target_x = 0.0
@@ -48,23 +48,15 @@ class FireExtinguisherEmulatorNode(Node):
 
         # Timers and subscriptions
         self.target_timer = self.create_timer(0.01, self.target_timer_cb)  # 100 Hz
-        self.create_subscription(Point, '~/target_point', self.target_cb, 10)
+        self.create_subscription(Point, 'target_point', self.target_cb, 10)
         self.create_subscription(CameraInfo, 'camera_info', self.cam_info_cb, 10)
         self.create_subscription(Image, 'raw_image', self.raw_image_cb, 10)
 
-        # UI control subscription (optional)
-        self.create_subscription(Vector3, '~/ui_control', self.ui_control_cb, 10)
-
     def target_cb(self, msg):
         """Received target point in normalized coordinates [-1, 1]"""
         self.target_x = min(max(-1.0, msg.x), 1.0)
         self.target_y = min(max(-1.0, msg.y), 1.0)
 
-    def ui_control_cb(self, msg):
-        """Manual UI control for crosshair (normalized coordinates)"""
-        self.target_x = min(max(-1.0, msg.x), 1.0)
-        self.target_y = min(max(-1.0, msg.y), 1.0)
-
     def cam_info_cb(self, msg):
         """Save camera info and shutdown subscription"""
         if self.camera_info is None:
@@ -116,6 +108,30 @@ class FireExtinguisherEmulatorNode(Node):
             self.current_x += step_x
             self.current_y += step_y
 
+        # Calculate 3D unit vector from camera frame
+        if self.fx > 0 and self.fy > 0:
+            # Pixel coordinates to normalized coordinates
+            px = self.current_x
+            py = self.current_y
+
+            # Inverse projection: (px, py) -> (x, y, z) in camera frame
+            x = (px - self.cx) / self.fx
+            y = (py - self.cy) / self.fy
+            z = 1.0
+
+            # Normalize to unit vector
+            norm = np.sqrt(x**2 + y**2 + z**2)
+            if norm > 0:
+                x /= norm
+                y /= norm
+                z /= norm
+
+                vector_msg = Vector3()
+                vector_msg.x = x
+                vector_msg.y = y
+                vector_msg.z = z
+                self.fire_ext_vector_pub.publish(vector_msg)
+
     def raw_image_cb(self, raw_msg):
         """Draw crosshair on image and publish 3D vector"""
         if self.camera_info is None:
@@ -163,29 +179,7 @@ class FireExtinguisherEmulatorNode(Node):
         except Exception as e:
             self.get_logger().error(f"Failed to publish image: {e}")
 
-        # Calculate 3D unit vector from camera frame
-        if self.fx > 0 and self.fy > 0:
-            # Pixel coordinates to normalized coordinates
-            px = self.current_x
-            py = self.current_y
-
-            # Inverse projection: (px, py) -> (x, y, z) in camera frame
-            x = (px - self.cx) / self.fx
-            y = (py - self.cy) / self.fy
-            z = 1.0
 
-            # Normalize to unit vector
-            norm = np.sqrt(x**2 + y**2 + z**2)
-            if norm > 0:
-                x /= norm
-                y /= norm
-                z /= norm
-
-                vector_msg = Vector3()
-                vector_msg.x = x
-                vector_msg.y = y
-                vector_msg.z = z
-                self.fire_ext_vector_pub.publish(vector_msg)
 
     def destroy_node(self):
         """Clean up subscriptions"""
diff --git a/unity_robot_controller/unity_robot_controller.py b/unity_robot_controller/unity_robot_controller.py
index dc9b667..b23d39f 100644
--- a/unity_robot_controller/unity_robot_controller.py
+++ b/unity_robot_controller/unity_robot_controller.py
@@ -22,7 +22,7 @@ class UnityRobotController(RobotController):
         self._ang_max = self._node.get_parameter('max_angular_speed').value
 
         self._twist_pub = self._node.create_publisher(Twist, 'cmd_vel', 10)
-        self._target_point_pub = self._node.create_publisher(Point, '/fire_extinguisher_emulator/target_point', 10)
+        self._target_point_pub = self._node.create_publisher(Point, 'target_point', 10)
 
 
     def send_speed_cmd(self, v, w):