diff --git a/hand_control/launch/all.launch b/hand_control/launch/all.launch
new file mode 100644
index 0000000..95e4e9b
--- /dev/null
+++ b/hand_control/launch/all.launch
@@ -0,0 +1,5 @@
+
+<launch>
+  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch">
+  </include>
+</launch>
diff --git a/hand_control/launch/freenect-registered-xyzrgb.launch b/hand_control/launch/freenect-registered-xyzrgb.launch
new file mode 100644
index 0000000..b92bfdc
--- /dev/null
+++ b/hand_control/launch/freenect-registered-xyzrgb.launch
@@ -0,0 +1,17 @@
+<launch>
+  <include file="$(find freenect_launch)/launch/freenect.launch">
+
+    <!-- use device registration -->
+    <arg name="depth_registration"              value="true" /> 
+
+    <arg name="rgb_processing"                  value="true" />
+    <arg name="ir_processing"                   value="false" />
+    <arg name="depth_processing"                value="false" />
+    <arg name="depth_registered_processing"     value="true" />
+    <arg name="disparity_processing"            value="false" />
+    <arg name="disparity_registered_processing" value="false" />
+    <arg name="sw_registered_processing"        value="false" />
+    <arg name="hw_registered_processing"        value="true" />
+
+  </include>
+</launch>