diff --git a/src/modelec_core/launch/modelec.launch.py b/src/modelec_core/launch/modelec.launch.py
index 36708e3..13ae594 100644
--- a/src/modelec_core/launch/modelec.launch.py
+++ b/src/modelec_core/launch/modelec.launch.py
@@ -1,5 +1,5 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction, Shutdown, RegisterEventHandler
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction, Shutdown, RegisterEventHandler, TimerAction
 from launch.conditions import IfCondition
 from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -8,7 +8,6 @@ from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
 import os
 
-
 def generate_launch_description():
     # Declare launch arguments
     with_gui_arg = DeclareLaunchArgument('with_gui', default_value='true', description='Launch GUI?')
@@ -22,17 +21,23 @@ def generate_launch_description():
     with_com = LaunchConfiguration('with_com')
     with_strat = LaunchConfiguration('with_strat')
 
-    # Conditionally include RPLIDAR launch
-    rplidar_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(
-                get_package_share_directory('rplidar_ros'),
-                'launch',
-                'rplidar_a1_launch.py'
+    # Function to launch RPLIDAR node with a delay
+    def launch_rplidar_with_delay(context, *args, **kwargs):
+        if context.launch_configurations.get('with_rplidar') == 'true':
+            # TimerAction to delay the start of RPLIDAR
+            start_rplidar = TimerAction(
+                period=5.0,  # Delay of 10 seconds before launching RPLIDAR
+                actions=[
+                    Node(
+                        package='rplidar_ros',
+                        executable='rplidar_node',
+                        name='rplidar_node',
+                        output='screen'
+                    )
+                ]
             )
-        ),
-        condition=IfCondition(with_rplidar)
-    )
+            return [start_rplidar]
+        return []
 
     # Function to launch GUI and shutdown handler
     def launch_gui(context, *args, **kwargs):
@@ -77,7 +82,9 @@ def generate_launch_description():
         with_com_arg,
         with_strat_arg,
 
-        rplidar_launch,
+        # Launch the RPLIDAR node with a delay
+        OpaqueFunction(function=launch_rplidar_with_delay),
+
         OpaqueFunction(function=launch_gui),
         OpaqueFunction(function=launch_com),
         OpaqueFunction(function=launch_strat),