diff --git a/rasms.repos b/rasms.repos
new file mode 100644
index 0000000..63471f1
--- /dev/null
+++ b/rasms.repos
@@ -0,0 +1,9 @@
+repositories:
+  rviz_visual_tools:
+    type: git
+    url: https://github.com/PickNikRobotics/rviz_visual_tools
+    version: foxy-devel
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/ros-planning/moveit_visual_tools
+    version: ros2
diff --git a/rasms_moveit_config/launch/rasms_control.launch.py b/rasms_moveit_config/launch/rasms_control.launch.py
index 58eddb7..070f8c3 100644
--- a/rasms_moveit_config/launch/rasms_control.launch.py
+++ b/rasms_moveit_config/launch/rasms_control.launch.py
@@ -110,7 +110,7 @@ def generate_launch_description():
     load_controllers = []
     for controller in [
         "position_trajectory_controller",
-        #"joint_state_broadcaster",
+        "joint_state_broadcaster",
     ]:
         load_controllers += [
             ExecuteProcess(
@@ -122,9 +122,10 @@ def generate_launch_description():
 
     return LaunchDescription(
         launch_args + 
+        load_controllers +
         [
             controller_manager,
             robot_state_publisher,
             static_tf
         ] 
-        + load_controllers)
+        )