diff --git a/catkin_ws/src/asclinic_pkg/launch/forklift.launch b/catkin_ws/src/asclinic_pkg/launch/forklift.launch
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..a3e61bc031901881b53167c94b13dd7713d41bcd 100644
--- a/catkin_ws/src/asclinic_pkg/launch/forklift.launch
+++ b/catkin_ws/src/asclinic_pkg/launch/forklift.launch
@@ -0,0 +1,102 @@
+<launch>
+
+	<!-- START A GROUP WITH A NAMESPACE -->
+	<group ns="asc">
+
+		<!-- LAUNCH A "I2C for Motors" NODE -->
+		<node
+			pkg    = "asclinic_pkg"
+			name   = "i2c_for_motors"
+			output = "screen"
+			type   = "i2c_for_motors"
+			>
+			<param
+				name   = "motor_driver_verbosity"
+				value  = "1"
+			/>
+			<param
+				name   = "motor_driver_current_limit_in_milliamps"
+				value  = "5000"
+			/>
+			<param
+				name   = "motor_driver_max_duty_cycle_limit_in_percent"
+				value  = "100.0"
+			/>
+			<param
+				name   = "motor_driver_max_accel_limit_in_percent_per_millisecond"
+				value  = "0.04"
+			/>
+			<param
+				name   = "motor_driver_max_decel_limit_in_percent_per_millisecond"
+				value  = "0.16"
+			/>
+			<param
+				name   = "motor_driver_left_side_multiplier"
+				value  = "1"
+			/>
+			<param
+				name   = "motor_driver_right_side_multiplier"
+				value  = "1"
+			/>
+		</node>
+
+        <node
+			pkg    = "asclinic_pkg"
+			name   = "encoder_read_multi_threaded"
+			output = "screen"
+			type   = "encoder_read_multi_threaded"
+			>
+			<param
+				name   = "encoder_read_verbosity"
+				value  = "1"
+			/>
+			<param
+				name   = "gpio_chip_number_for_encoder_lines"
+				value  = "1"
+			/>
+			<param
+				name   = "should_monitor_left_side_encoder_channel_a"
+				value  = "true"
+			/>
+			<param
+				name   = "should_monitor_left_side_encoder_channel_b"
+				value  = "false"
+			/>
+			<param
+				name   = "should_monitor_right_side_encoder_channel_a"
+				value  = "true"
+			/>
+			<param
+				name   = "should_monitor_right_side_encoder_channel_b"
+				value  = "false"
+			/>
+			<param
+				name   = "line_number_for_left_side_encoder_channel_a"
+				value  = "105"
+			/>
+			<param
+				name   = "line_number_for_left_side_encoder_channel_b"
+				value  = "106"
+			/>
+			<param
+				name   = "line_number_for_right_side_encoder_channel_a"
+				value  = "84"
+			/>
+			<param
+				name   = "line_number_for_right_side_encoder_channel_b"
+				value  = "130"
+			/>
+			<!-- NOTE: options for event monitoring are: "rising", "falling", "both" -->
+			<param
+				name   = "encoder_events_to_monitor"
+				value  = "rising"
+			/>
+			<param
+				name   = "delta_t_for_publishing_encoder_counts"
+				value  = "0.1"
+			/>
+		</node>
+
+	</group>
+
+</launch>
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