diff --git a/config/lerp_planning.yaml b/config/lerp_planning.yaml
new file mode 100644
index 0000000..9d2eebd
--- /dev/null
+++ b/config/lerp_planning.yaml
@@ -0,0 +1 @@
+num_steps: 40
diff --git a/launch/demo_lerp.launch b/launch/demo_lerp.launch
new file mode 100644
index 0000000..d5d8355
--- /dev/null
+++ b/launch/demo_lerp.launch
@@ -0,0 +1,6 @@
+
+<launch>
+  <include file="$(dirname)/demo.launch">
+    <arg name="pipeline" value="lerp"/>
+  </include>
+</launch>
\ No newline at end of file
diff --git a/launch/lerp_planning_pipeline.launch.xml b/launch/lerp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..c119357
--- /dev/null
+++ b/launch/lerp_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- LERP Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="lerp_interface/LERPPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with TrajOpt.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find panda_moveit_config)/config/lerp_planning.yaml"/>
+
+</launch>