diff --git a/src/modelec_core/launch/modelec.launch.py b/src/modelec_core/launch/modelec.launch.py
new file mode 100644
index 0000000..2686fe2
--- /dev/null
+++ b/src/modelec_core/launch/modelec.launch.py
@@ -0,0 +1,60 @@
+from launch import LaunchDescription
+from launch.actions import RegisterEventHandler, Shutdown
+from launch.event_handlers import OnProcessExit
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    # Qt GUI node
+    gui_node = Node(
+        package='modelec_gui',
+        executable='modelec_gui',
+        name='modelec_gui'
+    )
+
+    # Shut down all nodes when GUI exits
+    shutdown_on_gui_exit = RegisterEventHandler(
+        OnProcessExit(
+            target_action=gui_node,
+            on_exit=[Shutdown()]
+        )
+    )
+
+    return LaunchDescription([
+        Node(
+            package='modelec_com',
+            executable='serial_listener',
+            name='serial_listener'
+        ),
+        Node(
+            package='modelec_com',
+            executable='pcb_odo_interface',
+            name='pcb_odo_interface'
+        ),
+        Node(
+            package='modelec_com',
+            executable='pcb_alim_interface',
+            name='pcb_alim_interface'
+        ),
+        Node(
+            package='modelec_com',
+            executable='pcb_action_interface',
+            name='pcb_action_interface'
+        ),
+        gui_node,
+        shutdown_on_gui_exit,
+        Node(
+            package='modelec_core',
+            executable='speed_result',
+            name='speed_result'
+        ),
+        Node(
+            package='modelec_strat',
+            executable='strat_fsm',
+            name='strat_fsm'
+        ),
+        Node(
+            package='modelec_strat',
+            executable='pami_manager',
+            name='pami_manager'
+        )
+    ])
diff --git a/src/modelec_core/launch/modelec.launch.yml b/src/modelec_core/launch/modelec.launch.yml
deleted file mode 100644
index 88b37a8..0000000
--- a/src/modelec_core/launch/modelec.launch.yml
+++ /dev/null
@@ -1,41 +0,0 @@
-launch:
-
-- node:
-    pkg: 'modelec_com'
-    exec: "serial_listener"
-    name: "serial_listener"
-
-- node:
-    pkg: 'modelec_com'
-    exec: 'pcb_odo_interface'
-    name: 'pcb_odo_interface'
-
-- node:
-    pkg: 'modelec_com'
-    exec: 'pcb_alim_interface'
-    name: 'pcb_alim_interface'
-
-- node:
-    pkg: 'modelec_com'
-    exec: 'pca9685_controller'
-    name: 'pca9685_controller'
-
-- node:
-    pkg: 'modelec'
-    exec: 'solenoid_controller'
-    name: 'solenoid_controller'
-
-- node:
-    pkg: 'modelec'
-    exec: 'tirette_controller'
-    name: 'tirette_controller'
-
-- node:
-    pkg: 'modelec'
-    exec: 'arm_controller'
-    name: 'arm_controller'
-
-- node:
-    pkg: 'modelec'
-    exec: 'button_gpio_controller'
-    name: 'button_gpio_controller'