diff --git a/clearpath_generator_gz/clearpath_generator_gz/launch/generator.py b/clearpath_generator_gz/clearpath_generator_gz/launch/generator.py
index cd62862..e37f8a2 100644
--- a/clearpath_generator_gz/clearpath_generator_gz/launch/generator.py
+++ b/clearpath_generator_gz/clearpath_generator_gz/launch/generator.py
@@ -243,4 +243,15 @@ def generate_platform(self) -> None:
 
     def generate_manipulators(self) -> None:
         manipulators_service_launch_writer = LaunchWriter(self.manipulators_service_launch_file)
+        if self.clearpath_config.manipulators.get_all_manipulators():
+            if self.clearpath_config.manipulators.moveit.enable:
+                manipulators_service_launch_writer.add(LaunchFile(
+                    name='moveit',
+                    package=self.pkg_clearpath_manipulators,
+                    args=[
+                        ('setup_path', self.setup_path),
+                        ('use_sim_time', 'true'),
+                        ('namespace', self.namespace)
+                    ]
+                ))
         manipulators_service_launch_writer.generate_file()
diff --git a/clearpath_generator_gz/clearpath_generator_gz/param/sensors.py b/clearpath_generator_gz/clearpath_generator_gz/param/sensors.py
index 744c3a7..2c2d05a 100644
--- a/clearpath_generator_gz/clearpath_generator_gz/param/sensors.py
+++ b/clearpath_generator_gz/clearpath_generator_gz/param/sensors.py
@@ -38,7 +38,7 @@
                                                 NovatelSmart7)
 from clearpath_config.sensors.types.imu import BaseIMU, Microstrain, CHRoboticsUM6, RedshiftUM7
 from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST, SickLMS1XX
-from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, VelodyneLidar
+from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, OusterOS1, VelodyneLidar
 from clearpath_config.sensors.types.sensor import BaseSensor
 from clearpath_config.common.utils.yaml import write_yaml
 
@@ -275,6 +275,7 @@ def __init__(
         Microstrain.SENSOR_MODEL: ImuParam,
         RedshiftUM7.SENSOR_MODEL: ImuParam,
         VelodyneLidar.SENSOR_MODEL: Lidar3dParam,
+        OusterOS1.SENSOR_MODEL: Lidar3dParam,
         Garmin18x.SENSOR_MODEL: GPSParam,
         NovatelSmart6.SENSOR_MODEL: GPSParam,
         NovatelSmart7.SENSOR_MODEL: GPSParam,
diff --git a/clearpath_gz/launch/robot_spawn.launch.py b/clearpath_gz/launch/robot_spawn.launch.py
index 11507f5..bb50d94 100644
--- a/clearpath_gz/launch/robot_spawn.launch.py
+++ b/clearpath_gz/launch/robot_spawn.launch.py
@@ -50,7 +50,11 @@
                           description='Gazebo World'),
     DeclareLaunchArgument('setup_path',
                           default_value=[EnvironmentVariable('HOME'), '/clearpath/'],
-                          description='Clearpath setup path')
+                          description='Clearpath setup path'),
+    DeclareLaunchArgument('generate',
+                          default_value='true',
+                          choices=['true', 'false'],
+                          description='Generate parameters and launch files')
 ]
 
 for pose_element in ['x', 'y', 'yaw']:
@@ -67,6 +71,7 @@ def launch_setup(context, *args, **kwargs):
     use_sim_time = LaunchConfiguration('use_sim_time')
     x, y, z = LaunchConfiguration('x'), LaunchConfiguration('y'), LaunchConfiguration('z')
     yaw = LaunchConfiguration('yaw')
+    generate = LaunchConfiguration('generate')
 
     # Parse robot YAML into config
     clearpath_config = ClearpathConfig(os.path.join(
@@ -88,6 +93,8 @@ def launch_setup(context, *args, **kwargs):
         setup_path, 'platform/launch', 'platform-service.launch.py'])
     launch_file_sensors_service = PathJoinSubstitution([
         setup_path, 'sensors/launch', 'sensors-service.launch.py'])
+    launch_file_manipulators_service = PathJoinSubstitution([
+        setup_path, 'manipulators/launch', 'manipulators-service.launch.py'])
 
     group_action_spawn_robot = GroupAction([
 
@@ -103,6 +110,10 @@ def launch_setup(context, *args, **kwargs):
               ('prefix', ['/world/', world, '/model/', robot_name, '/link/base_link/sensor/'])]
         ),
 
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([launch_file_manipulators_service]),
+        ),
+
         # Spawn robot
         Node(
             package='ros_gz_sim',
@@ -123,6 +134,7 @@ def launch_setup(context, *args, **kwargs):
         executable='generate_description',
         name='generate_description',
         output='screen',
+        condition=IfCondition(generate),
         arguments=['-s', setup_path]
     )
 
@@ -131,6 +143,7 @@ def launch_setup(context, *args, **kwargs):
         executable='generate_semantic_description',
         name='generate_semantic_description',
         output='screen',
+        condition=IfCondition(generate),
         arguments=['-s', setup_path]
     )
 
@@ -139,6 +152,7 @@ def launch_setup(context, *args, **kwargs):
         executable='generate_launch',
         name='generate_launch',
         output='screen',
+        condition=IfCondition(generate),
         arguments=['-s', setup_path]
     )
 
@@ -147,6 +161,7 @@ def launch_setup(context, *args, **kwargs):
         executable='generate_param',
         name='generate_launch',
         output='screen',
+        condition=IfCondition(generate),
         arguments=['-s', setup_path]
     )
 
@@ -187,7 +202,7 @@ def launch_setup(context, *args, **kwargs):
         condition=IfCondition(LaunchConfiguration('rviz')),
     )
 
-    return [
+    actions = [
         node_generate_description,
         event_generate_description,
         event_generate_semantic_description,
@@ -196,6 +211,11 @@ def launch_setup(context, *args, **kwargs):
         rviz
     ]
 
+    if not generate.perform(context):
+        actions.append(group_action_spawn_robot)
+
+    return actions
+
 
 def generate_launch_description():
     # Define LaunchDescription variable