diff --git a/setup/start_rover.sh b/setup/start_rover.sh
index bdf37417..c9fbd2a7 100755
--- a/setup/start_rover.sh
+++ b/setup/start_rover.sh
@@ -1,6 +1,9 @@
 #!/bin/bash
-source ~/gstreamer/setupGstreamer.sh
-source /opt/ros/humble/setup.bash
-source /opt/ros/humble/cprt_setup.bash
 sudo enablecan.sh
-ros2 launch rosbridge_server rosbridge_websocket_launch.xml
\ No newline at end of file
+
+echo "Starting the container launcher..."
+
+docker run --rm \
+    -v /var/run/docker.sock:/var/run/docker.sock \
+    -p 8080:8080 \
+    cprtsoftware/container-launcher:latest
\ No newline at end of file
diff --git a/src/Bringup/launch/arm.launch.py b/src/Bringup/launch/arm.launch.py
index 26ffa88b..aca9e1da 100644
--- a/src/Bringup/launch/arm.launch.py
+++ b/src/Bringup/launch/arm.launch.py
@@ -20,6 +20,5 @@ def generate_launch_description():
     SetEnvironmentVariable("ROS_LOG_LEVEL", "WARN")
     launch_files = [
         ("arm_srdf", "servo.launch.py"),
-        ("arm_srdf", "talon.launch.py"),
     ]
     return LaunchDescription(get_included_launch_descriptions(launch_files))
diff --git a/src/Bringup/launch/arm_tasks.launch.py b/src/Bringup/launch/arm_tasks.launch.py
deleted file mode 100644
index 7cb9d05c..00000000
--- a/src/Bringup/launch/arm_tasks.launch.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
-import os
-
-
-def get_included_launch_descriptions(launch_files):
-    included_launches = []
-    for pkg, file in launch_files:
-        pkg_share = FindPackageShare(pkg).find(pkg)
-        file_path = os.path.join(pkg_share, "launch", file)
-        included_launches.append(
-            IncludeLaunchDescription(PythonLaunchDescriptionSource(file_path))
-        )
-    return included_launches
-
-
-def generate_launch_description():
-    SetEnvironmentVariable("ROS_LOG_LEVEL", "warn"),
-    launch_files = [
-        ("drive_cpp", "talon.launch.py"),
-        ("arm_srdf", "servo.launch.py"),
-        ("arm_srdf", "talon.launch.py"),
-        ("camera_streaming", "webRTC.launch.py"),
-        ("gps", "rover.launch.py"),
-        ("joystick_control", "controller.launch.py"),
-        ("servo_pkg", "usb_servo_launch.launch.py"),
-    ]
-    return LaunchDescription(get_included_launch_descriptions(launch_files))
diff --git a/src/Bringup/launch/basic_drive.launch.py b/src/Bringup/launch/basic_drive.launch.py
deleted file mode 100644
index 89a256e7..00000000
--- a/src/Bringup/launch/basic_drive.launch.py
+++ /dev/null
@@ -1,27 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
-import os
-
-
-def get_included_launch_descriptions(launch_files):
-    included_launches = []
-    for pkg, file in launch_files:
-        pkg_share = FindPackageShare(pkg).find(pkg)
-        file_path = os.path.join(pkg_share, "launch", file)
-        included_launches.append(
-            IncludeLaunchDescription(PythonLaunchDescriptionSource(file_path))
-        )
-    return included_launches
-
-
-def generate_launch_description():
-    SetEnvironmentVariable("ROS_LOG_LEVEL", "warn"),
-    launch_files = [
-        ("drive_cpp", "talon.launch.py"),
-        ("camera_streaming", "webRTC.launch.py"),
-        ("joystick_control", "controller.launch.py"),
-        ("servo_pkg", "usb_servo_launch.launch.py"),
-    ]
-    return LaunchDescription(get_included_launch_descriptions(launch_files))
diff --git a/src/Bringup/launch/core.launch.py b/src/Bringup/launch/core.launch.py
index 993837eb..46370a22 100644
--- a/src/Bringup/launch/core.launch.py
+++ b/src/Bringup/launch/core.launch.py
@@ -1,6 +1,7 @@
 from launch import LaunchDescription
 from launch_ros.substitutions import FindPackageShare
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
 from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
 import os
 
@@ -10,16 +11,22 @@ def get_included_launch_descriptions(launch_files):
     for pkg, file in launch_files:
         pkg_share = FindPackageShare(pkg).find(pkg)
         file_path = os.path.join(pkg_share, "launch", file)
-        included_launches.append(
-            IncludeLaunchDescription(PythonLaunchDescriptionSource(file_path))
-        )
+
+        if file.endswith(".py"):
+            source = PythonLaunchDescriptionSource(file_path)
+        elif file.endswith(".xml"):
+            source = XMLLaunchDescriptionSource(file_path)
+        else:
+            raise ValueError(f"Unsupported launch file format: {file}")
+
+        included_launches.append(IncludeLaunchDescription(source))
     return included_launches
 
 
 def generate_launch_description():
-    SetEnvironmentVariable("ROS_LOG_LEVEL", "WARN")
     launch_files = [
         ("joystick_control", "controller.launch.py"),
         ("servo_pkg", "usb_servo_launch.launch.py"),
+        ("rosbridge_server", "rosbridge_websocket_launch.xml"),
     ]
     return LaunchDescription(get_included_launch_descriptions(launch_files))
diff --git a/src/Bringup/launch/localization.launch.py b/src/Bringup/launch/localization.launch.py
deleted file mode 100644
index 52fb487c..00000000
--- a/src/Bringup/launch/localization.launch.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
-import os
-
-
-def get_included_launch_descriptions(launch_files):
-    included_launches = []
-    for pkg, file in launch_files:
-        pkg_share = FindPackageShare(pkg).find(pkg)
-        file_path = os.path.join(pkg_share, "launch", file)
-        included_launches.append(
-            IncludeLaunchDescription(PythonLaunchDescriptionSource(file_path))
-        )
-    return included_launches
-
-
-def generate_launch_description():
-    SetEnvironmentVariable("ROS_LOG_LEVEL", "info"),
-    launch_files = [
-        ("localization", "description.launch.py"),
-        ("localization", "ekf.launch.py"),
-        ("localization", "navsat.launch.py"),
-        ("localization", "rtabmap.launch.py"),
-        ("gps", "gps.launch.py"),
-        ("navigation", "zed.launch.py"),
-        ("navigation", "traversability_gridmap.launch.py"),
-    ]
-    return LaunchDescription(get_included_launch_descriptions(launch_files))
diff --git a/src/Bringup/launch/navigation.launch.py b/src/Bringup/launch/navigation.launch.py
deleted file mode 100644
index 9c6bc4b9..00000000
--- a/src/Bringup/launch/navigation.launch.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
-import os
-
-
-def get_included_launch_descriptions(launch_files):
-    included_launches = []
-    for pkg, file in launch_files:
-        pkg_share = FindPackageShare(pkg).find(pkg)
-        file_path = os.path.join(pkg_share, "launch", file)
-        included_launches.append(
-            IncludeLaunchDescription(PythonLaunchDescriptionSource(file_path))
-        )
-    return included_launches
-
-
-def generate_launch_description():
-    launch_files = [
-        ("navigation", "nav2.launch.py"),
-        ("navigation", "rtabmap.launch.py"),
-        ("nav_commanders", "gps_commander.launch.py"),
-    ]
-    lights_node = Node(
-        package="gpio_controller",
-        executable="lights",
-        name="lights_controller_node",  # Assign a unique name to the node
-        output="screen",  # Show output in the console
-        emulate_tty=True,  # Required for output to show in terminal when using 'screen'
-        # parameters=[{'some_param': 'some_value'}] # Uncomment and add parameters if needed
-    )
-    return LaunchDescription(
-        get_included_launch_descriptions(launch_files) + [lights_node]
-    )
diff --git a/src/Bringup/launch/science.launch.py b/src/Bringup/launch/science.launch.py
deleted file mode 100644
index f3c35c22..00000000
--- a/src/Bringup/launch/science.launch.py
+++ /dev/null
@@ -1,30 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
-import os
-
-
-def get_included_launch_descriptions(launch_files):
-    included_launches = []
-    for pkg, file in launch_files:
-        pkg_share = FindPackageShare(pkg).find(pkg)
-        file_path = os.path.join(pkg_share, "launch", file)
-        included_launches.append(
-            IncludeLaunchDescription(PythonLaunchDescriptionSource(file_path))
-        )
-    return included_launches
-
-
-def generate_launch_description():
-    SetEnvironmentVariable("ROS_LOG_LEVEL", "warn"),
-    launch_files = [
-        ("drive_cpp", "talon.launch.py"),
-        ("camera_streaming", "webRTC.launch.py"),
-        ("gps", "rover.launch.py"),
-        ("joystick_control", "controller.launch.py"),
-        ("servo_pkg", "usb_servo_launch.launch.py"),
-        ("science_sensors", "panoramic.launch.py"),
-        ("science_sensors", "can_module_reader.launch.py"),
-    ]
-    return LaunchDescription(get_included_launch_descriptions(launch_files))
diff --git a/src/Bringup/package.xml b/src/Bringup/package.xml
index 9facac3c..639afee5 100644
--- a/src/Bringup/package.xml
+++ b/src/Bringup/package.xml
@@ -6,6 +6,7 @@
   <description>TODO: Package description</description>
   <maintainer email="connor.needham2015@gmail.com">connor</maintainer>
   <license>TODO: License declaration</license>
+  <depend>rosbridge_server</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>