diff --git a/ias_mechanism_controllers/launch/pr2_multi_vel_started.launch b/ias_mechanism_controllers/launch/pr2_multi_vel_started.launch
new file mode 100644
index 0000000..5be6afb
--- /dev/null
+++ b/ias_mechanism_controllers/launch/pr2_multi_vel_started.launch
@@ -0,0 +1,7 @@
+<launch>
+  <!-- load params of the joint velocity controllers -->
+  <rosparam command="load" file="$(find ias_mechanism_controllers)/launch/pr2_multi_vel.yaml" />
+
+  <!-- load the velocity-resolved controllers in stopped state -->
+  <node name="spawner_vel_controllers" pkg="pr2_controller_manager" type="spawner" args="l_arm_vel r_arm_vel" />
+</launch>