diff --git a/config/mqtt.yaml b/config/mqtt.yaml
index b4f80d6500701d9322265aab7fc4fb83b73f8dd1..ba53262d460636ff7310aa1b2b29c0dc847c9277 100644
--- a/config/mqtt.yaml
+++ b/config/mqtt.yaml
@@ -1,2 +1,7 @@
 panda_mqtt_connector:
   server: "tcp://localhost:1883"
+safety_zone_spawner:
+  size: 0.5
+  zones:
+    - "1 1"
+    - "-1 -1 1"
\ No newline at end of file
diff --git a/launch/simulation_rosrag.launch b/launch/simulation_rosrag.launch
index 848327ce943d23b35a55619e13632b597db7ad88..65e66c6c729834a1bc95422b9394d133adfc2055 100644
--- a/launch/simulation_rosrag.launch
+++ b/launch/simulation_rosrag.launch
@@ -9,4 +9,5 @@
     <node name="TimedPlanner" pkg="panda_mqtt_connector" type="TimedPlanner" respawn="false" output="screen"/>
     <node name="MqttToRosNode" pkg="panda_mqtt_connector" type="MqttToRosNode" respawn="false" output="screen"/>
     <node name="RobotStateProvider" pkg="panda_mqtt_connector" type="RobotStateProvider" respawn="false" output="screen"/>
+    <node name="gazebo_zones" pkg="gazebo_zones" type="gazebo_zones" respawn="false" output="screen"/>
 </launch>