diff --git a/vz_ros_wrappers/launch/D435i_and_Lepton.launch b/vz_ros_wrappers/launch/D435i_and_Lepton.launch
index 44b114d..f27e983 100644
--- a/vz_ros_wrappers/launch/D435i_and_Lepton.launch
+++ b/vz_ros_wrappers/launch/D435i_and_Lepton.launch
@@ -1,10 +1,13 @@
 <launch>
       <node pkg="vz_ros_wrappers" type="grab_D435i.py" name="D435i" />
       <node pkg="vz_ros_wrappers" type="grab_thermal.py" name="FLIRLepton" />
+      <node pkg="vz_ros_wrappers" type="orvs_ros_interface.py" name="bpm_capture" />
       <node pkg="image_transport" type="republish" name="D435iCompressed"
             args="raw in:=/D435i/image_raw compressed out:=/D435i/image_raw" />
       <!-- Flip images and display when collecting data? -->
       <param name="flip_images_grab_data" type="bool" value="true" />
       <param name="rgbd_topic" type="string" value="/D435i/image_raw" />
-      <param name="thermal_topic" type="string" value="/Lepton/image_raw" />      
+      <param name="thermal_topic" type="string" value="/Lepton/image_raw" />    
+      <param name="bpm_topic" type="string" value="/Lepton/bpm" /> 
+      <param name="rec_secs" type="int" value="10" /> 
   </launch>
\ No newline at end of file