diff --git a/launch/simulation_rosrag_test.launch b/launch/simulation_rosrag_test.launch
index 280283a84815fe4ba45b91840828c160dfd9f1c5..89443b2edd3db1e53ec1ec20dd48358877cb5ded 100644
--- a/launch/simulation_rosrag_test.launch
+++ b/launch/simulation_rosrag_test.launch
@@ -13,9 +13,9 @@
     <node name="safety_zone_monitor" pkg="panda_mqtt_connector" type="safety_zone_monitor" respawn="false" output="screen"/>
     <node name="MqttRosConnectionTestNode" pkg="panda_mqtt_connector" type="MqttRosConnectionTestNode" respawn="false" output="screen"/>
     <node name="acceleration_publisher" pkg="panda_mqtt_connector" type="acceleration_publisher" respawn="false" output="screen"/>
-    <node name="plotter" pkg="panda_mqtt_connector" type="plotter.py" respawn="false" output="screen"/>
-    <node name="transform_riz" pkg="topic_tools" type="transform" args="--wait-for-start /panda_mqtt_connector/robot_in_zone /panda_mqtt_connector/robot_in_zone_number std_msgs/Float64 -- 'm.zone*-1'" />
-    <node name="rqt_plot" pkg="rqt_plot" type="rqt_plot" respawn="false" output="screen"
-          args="/gazebo/link_states/pose[10]/position/x:y:z /panda_mqtt_connector/velocity /panda_mqtt_connector/max_velocity /panda_mqtt_connector/robot_in_zone_number"
-    />
+    <node name="rqt_multiplot" pkg="rqt_multiplot" type="rqt_multiplot" args="--force-discover" />
+<!--    <node name="plotter" pkg="panda_mqtt_connector" type="plotter.py" respawn="false" output="screen"/>-->
+<!--    <node name="transform_riz" pkg="topic_tools" type="transform" args="&#45;&#45;wait-for-start /panda_mqtt_connector/robot_in_zone /panda_mqtt_connector/robot_in_zone_number std_msgs/Float64 &#45;&#45; 'm.zone*-1'" />-->
+    <node name="transform_mqtt" pkg="topic_tools" type="transform" args="--wait-for-start /panda_mqtt_connector/mqtt_message /panda_mqtt_connector/next_step std_msgs/Int16 -- '-1*(m.topic==&quot;ros2rag/nextStep&quot;)'" />
+<!--    <node name="rqt_plot" pkg="rqt_plot" type="rqt_plot" respawn="false" output="screen" args="/gazebo/link_states/pose[10]/position/x:y:z /panda_mqtt_connector/velocity /panda_mqtt_connector/max_velocity /panda_mqtt_connector/robot_in_zone_number" /> -->
 </launch>