diff --git a/launch/crp_launcher/launch/core_test.launch.py b/launch/crp_launcher/launch/core_test.launch.py
index e4b6e039..cf14988a 100644
--- a/launch/crp_launcher/launch/core_test.launch.py
+++ b/launch/crp_launcher/launch/core_test.launch.py
@@ -1,9 +1,6 @@
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
-from launch.substitutions import LaunchConfiguration
-from launch.conditions import LaunchConfigurationEquals
-from launch.launch_description_sources import PythonLaunchDescriptionSource, AnyLaunchDescriptionSource
+from launch.actions import IncludeLaunchDescription, ExecuteProcess, GroupAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 from os.path import join
 
@@ -15,7 +12,7 @@ def generate_launch_description():
     change_controller_PGain = ExecuteProcess(
         cmd=[[
             'ros2 param set ',
-            '/CtrlVehicleControlLat ',
+            '/CtrlVehicleControlLatCompensatory ',
             '/ctrl/fbPGain ',
             '2.0'
         ]],
@@ -25,7 +22,7 @@ def generate_launch_description():
     change_controller_IGain = ExecuteProcess(
         cmd=[[
             'ros2 param set ',
-            '/CtrlVehicleControlLat ',
+            '/CtrlVehicleControlLatCompensatory ',
             '/ctrl/fbIGain ',
             '0.05'
         ]],
@@ -35,7 +32,7 @@ def generate_launch_description():
     change_controller_DGain = ExecuteProcess(
         cmd=[[
             'ros2 param set ',
-            '/CtrlVehicleControlLat ',
+            '/CtrlVehicleControlLatCompensatory ',
             '/ctrl/fbDGain ',
             '0.1'
         ]],
@@ -45,7 +42,7 @@ def generate_launch_description():
     change_controller_ThetaGain = ExecuteProcess(
         cmd=[[
             'ros2 param set ',
-            '/CtrlVehicleControlLat ',
+            '/CtrlVehicleControlLatCompensatory ',
             '/ctrl/fbThetaGain ',
             '0.0'
         ]],
@@ -55,7 +52,7 @@ def generate_launch_description():
     change_controller_fbLookAheadTime = ExecuteProcess(
         cmd=[[
             'ros2 param set ',
-            '/CtrlVehicleControlLat ',
+            '/CtrlVehicleControlLatCompensatory ',
             '/ctrl/fbLookAheadTime ',
             '0.1'
         ]],
@@ -65,7 +62,7 @@ def generate_launch_description():
     change_controller_steeringLpFilter = ExecuteProcess(
         cmd=[[
             'ros2 param set ',
-            '/CtrlVehicleControlLat ',
+            '/CtrlVehicleControlLatCompensatory ',
             '/ctrl/steeringAngleLPFilter ',
             '0.8'
         ]],
@@ -75,7 +72,7 @@ def generate_launch_description():
     change_controller_ffGainOffsetGround = ExecuteProcess(
         cmd=[[
             'ros2 param set ',
-            '/CtrlVehicleControlLat ',
+            '/CtrlVehicleControlLatCompensatory ',
             '/ctrl/ffGainOffsetGround ',
             '0.0'
         ]],
@@ -89,7 +86,7 @@ def generate_launch_description():
             join(
                 get_package_share_directory('crp_launcher'),
                 'launch',
-                'core.launch.py')
+                'core_lqr.launch.py')
         )
     )
 
@@ -111,11 +108,13 @@ def generate_launch_description():
         crp_core,
 
         # args
-        change_controller_PGain,
-        change_controller_IGain,
-        change_controller_DGain,
-        change_controller_ThetaGain,
-        change_controller_steeringLpFilter,
-        change_controller_ffGainOffsetGround,
-        change_controller_fbLookAheadTime
+        GroupAction([
+            change_controller_PGain,
+            change_controller_IGain,
+            change_controller_DGain,
+            change_controller_ThetaGain,
+            change_controller_steeringLpFilter,
+            change_controller_ffGainOffsetGround,
+            change_controller_fbLookAheadTime
+        ])
     ])