diff --git a/launch/gazebo_iris_mavros_posix_sitl.launch b/launch/gazebo_iris_mavros_posix_sitl.launch
new file mode 100644
index 0000000000..2633524daa
--- /dev/null
+++ b/launch/gazebo_iris_mavros_posix_sitl.launch
@@ -0,0 +1,26 @@
+<launch>
+
+    <arg name="headless" default="false"/>
+    <arg name="gui" default="true"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
+    <arg name="mavlink_bridge_url" default="udp://localhost:14553@localhost:14560" />
+
+    <include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </include>
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
+    <include file="$(find mavros)/launch/mavlink_bridge.launch">
+    <arg name="mavlink_bridge_url" value="$(arg mavlink_bridge_url)" />
+    <arg name="ns" value="$(arg ns)"/>
+    </include>
+
+</launch>
diff --git a/posix-configs/SITL/init/rcS b/posix-configs/SITL/init/rcS
index 7388259bc5..a1a73f8942 100644
--- a/posix-configs/SITL/init/rcS
+++ b/posix-configs/SITL/init/rcS
@@ -51,4 +51,4 @@ mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
 mavlink stream -r 80 -s ATTITUDE -u 14556
 mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
-mavlink stream -r 250 -s HIGHRES_IMU -u 14556
\ No newline at end of file
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556