diff --git a/launch/pioneerMasterLaunchFile.launch b/launch/pioneerMasterLaunchFile.launch
new file mode 100644
index 0000000..17a65dd
--- /dev/null
+++ b/launch/pioneerMasterLaunchFile.launch
@@ -0,0 +1,53 @@
+<launch>
+	<!-- Defining the arguments -->
+	<arg name="HokuyoLaser" value="0"/>
+	<arg name="SICKLMSLaser" value="1"/>
+	<arg name="P2OS_Driver" value="1"/>
+	<arg name="KeyboardTeleop" value="0"/>
+	<arg name="JoystickTeleop" value="1"/>
+	<arg name="Transform" value="1"/>
+	<arg name="Dashboard" value="0"/>
+	<arg name="enableMotor" value="1"/>
+
+    <group if="$(arg enableMotor)" >
+        <node name="rostopic" pkg="rostopic" type="rostopic" args="pub -1 /cmd_motor_state p2os_msgs/MotorState 1"/>
+    </group>
+
+    <!-- Start the p2os ROS Driver -->
+	<group if="$(arg P2OS_Driver)" >
+	    <node pkg="p2os_driver" name="p2os_driver" type="p2os_driver"/>
+	</group>
+	
+	<!-- Start the Dashboard -->
+	<group if="$(arg Dashboard)">
+        <node pkg="p2os_dashboard" name="p2os_dashboard" type="p2os_dashboard"/>
+	</group>
+	
+    <!-- Start the teleoperation node for keyboard control -->
+    <group if="$(arg KeyboardTeleop)">
+        <include file="$(find p2os_launch)/launch/teleop_keyboard.launch" />
+    </group>
+
+	 <!-- Start the teleoperation node for joystick control -->
+    <group if="$(arg JoystickTeleop)">
+        <include file="$(find p2os_launch)/launch/teleop_joy.launch" /> 
+    </group>
+
+    <!-- Publish the required transform -->
+    <group if="$(arg Transform)">
+        <include file="$(find p2os_launch)/launch/tf_base_link_to_laser.launch" />          
+    </group>
+
+    <!-- Start the Hokuyo Laser node if Hokuyo Laser is used -->
+    <group if="$(arg HokuyoLaser)">
+        <include file="$(find p2os_launch)/launch/hokuyo.launch" /> 
+    </group>
+
+    <!-- Start the SICK LMS Laser Node if a SICK Laser is used -->
+    <group if="$(arg SICKLMSLaser)">
+        <include file="$(find p2os_launch)/launch/sicklms.launch" /> 
+    </group>
+
+    <include file="$(find p2os_urdf)/launch/pioneer3dx_urdf.launch"/>
+</launch>
+