diff --git a/launch/joy_wave_rover.launch.py b/launch/joy_wave_rover.launch.py
new file mode 100644
index 0000000..edd73e1
--- /dev/null
+++ b/launch/joy_wave_rover.launch.py
@@ -0,0 +1,67 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+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(
+            "joy_model",
+            description="Used joystick model (default is T-29)",
+            default_value="T-29.yaml",
+        ),
+        DeclareLaunchArgument(
+            "namespace", default_value="sirius_bot", description="Top-level namespace"
+        ),
+        # DeclareLaunchArgument(
+        #     "start_rviz", default_value="True", description="Use basic rviz"
+        # ),
+    ]
+
+    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_wave_rover_controller_node = Node(
+        package="wave_rover_controller",
+        executable="joy_control_node",
+        name="joy_control",
+        # output="screen",
+        namespace=LaunchConfiguration("namespace"),
+        parameters=[
+            ParameterFile(joy_params),
+            {'serial_port': '/dev/ttyUSB0'}]
+    )
+
+
+    return LaunchDescription(
+        launch_args
+        + [
+            joy_node,
+            joy_wave_rover_controller_node,
+            ]
+    )
diff --git a/setup.py b/setup.py
index d8897b6..5c328d9 100644
--- a/setup.py
+++ b/setup.py
@@ -13,9 +13,10 @@ setup(
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         (os.path.join('share', package_name, 'launch'), [f for f in glob('launch/*') if os.path.isfile(f)]) ,
-        (os.path.join('share', package_name, 'config'), [f for f in glob('config/*') if os.path.isfile(f)]) ,
+        #(os.path.join('share', package_name, 'config'), [f for f in glob('config/*') if os.path.isfile(f)]) ,
     ],
-    install_requires=['setuptools'],
+    install_requires=['setuptools',
+                      'pyserial'],
     zip_safe=True,
     maintainer='anton',
     maintainer_email='moscowskyad@yandex.ru',
diff --git a/wave_rover_controller/joy_control_node b/wave_rover_controller/joy_control_node.py
similarity index 77%
rename from wave_rover_controller/joy_control_node
rename to wave_rover_controller/joy_control_node.py
index ab909ad..4d84dbf 100644
--- a/wave_rover_controller/joy_control_node
+++ b/wave_rover_controller/joy_control_node.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import rclpy
-from wave_rover_controller.robot_controller.robot_controller import WaveRoverController
+from wave_rover_controller.wave_rover_controller import WaveRoverController
 from unity_robot_controller.joy_control_node import JoyControlNode
 
 def main(args=None):
diff --git a/wave_rover_controller/robot_controller b/wave_rover_controller/robot_controller
index 9f65622..b34711e 160000
--- a/wave_rover_controller/robot_controller
+++ b/wave_rover_controller/robot_controller
@@ -1 +1 @@
-Subproject commit 9f65622b633900e07ee1f9dbe9e33a5add3167ae
+Subproject commit b34711ebc690cf9199b15bc3074e08f258303003
diff --git a/wave_rover_controller/wave_rover_controller.py b/wave_rover_controller/wave_rover_controller.py
index 0e20d6f..f0381aa 100644
--- a/wave_rover_controller/wave_rover_controller.py
+++ b/wave_rover_controller/wave_rover_controller.py
@@ -4,8 +4,9 @@ import rclpy
 from rclpy.node import Node
 from wave_rover_controller.robot_controller.robot_controller import RobotController
 from serial import Serial
-from serial.exceptions import SerialException
+from serial import SerialException
 import json
+import time
 
 class WaveRoverController(RobotController):
 
@@ -14,9 +15,11 @@ class WaveRoverController(RobotController):
 
         self._node = node
 
+        self._node.declare_parameter('serial_port', '/dev/ttyUSB0')
+        self._node.declare_parameter('baudrate', 115200)
 
-        self._serial_port = self.declare_parameter('serial_port', '/dev/ttyUSB0').value
-        self._baudrate = self.declare_parameter('baudrate', 115200).value
+        self._serial_port = self._node.get_parameter('serial_port').value
+        self._baudrate = self._node.get_parameter('baudrate').value
 
         wheel_max = 0.5 # popugais
         self._linear_max = wheel_max
@@ -71,8 +74,8 @@ class WaveRoverController(RobotController):
         """Twist -> скорости колес для дифференциального привода"""
         wheel_base = 0.2  # м
 
-        left_speed = (linear_x - (wheel_base * angular_z) / 2) / self.max_linear_speed
-        right_speed = (linear_x + (wheel_base * angular_z) / 2) / self.max_linear_speed
+        left_speed = (linear_x - (wheel_base * angular_z) / 2) #/ self.max_linear_speed
+        right_speed = (linear_x + (wheel_base * angular_z) / 2) #/ self.max_linear_speed
 
         left_speed = max(-1.0, min(1.0, left_speed))
         right_speed = max(-1.0, min(1.0, right_speed))