diff --git a/aruco_pose/launch/sample.launch b/aruco_pose/launch/sample.launch
new file mode 100644
index 00000000..41b32a9e
--- /dev/null
+++ b/aruco_pose/launch/sample.launch
@@ -0,0 +1,26 @@
+<launch>
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
+
+    <!-- camera node -->
+    <node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet nodelet_manager">
+        <param name="frame_id" value="main_camera_optical"/>
+        <param name="camera_info_url" value="file://$(find aruco_pose)/test/camera_info.yaml" />
+        <param name="image_width" value="640"/>
+        <param name="image_height" value="480"/>
+    </node>
+
+    <!-- detect aruco markers -->
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_detect" args="load aruco_pose/aruco_detect nodelet_manager">
+        <remap from="image_raw" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <param name="length" value="0.33"/>
+    </node>
+
+    <!-- aruco map -->
+    <node pkg="nodelet" clear_params="true" type="nodelet" name="aruco_map" args="load aruco_pose/aruco_map nodelet_manager">
+        <remap from="image_raw" to="main_camera/image_raw"/>
+        <remap from="camera_info" to="main_camera/camera_info"/>
+        <remap from="markers" to="aruco_detect/markers"/>
+        <param name="map" value="$(find aruco_pose)/map/map.txt"/>
+    </node>
+</launch>