diff --git a/launch/artesting.launch b/launch/artesting.launch
new file mode 100644
index 0000000..60cdf0c
--- /dev/null
+++ b/launch/artesting.launch
@@ -0,0 +1,24 @@
+<launch>
+ 
+ 
+ 
+ 
+ <arg name="marker_size" default="6.9" />
+ <arg name="max_new_marker_error" default="0.08" />
+ <arg name="max_track_error" default="0.2" />
+ <arg name="cam_image_topic" default="/cameras/right_hand_camera/image" />
+ <arg name="cam_info_topic" default="/cameras/right_hand_camera/camera_info" />
+ <arg name="output_frame" default="/right_hand_camera_axis" />
+ 
+
+ <node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkersNoKinect" respawn="false" output="screen">
+  <param name="marker_size"           type="double" value="$(arg marker_size)" />
+  <param name="max_new_marker_error"  type="double" value="$(arg max_new_marker_error)" />
+  <param name="max_track_error"       type="double" value="$(arg max_track_error)" />
+  <param name="output_frame"          type="string" value="$(arg output_frame)" />
+
+  <remap from="camera_image"  to="$(arg cam_image_topic)" />
+  <remap from="camera_info"   to="$(arg cam_info_topic)" />
+ </node>
+ 
+</launch>
diff --git a/src/ar_track_alvar b/src/ar_track_alvar
new file mode 160000
index 0000000..9c8fa0c
--- /dev/null
+++ b/src/ar_track_alvar
@@ -0,0 +1 @@
+Subproject commit 9c8fa0ce5a6eefa686d2e1c2ec0d0a8ea71836fe