diff --git a/rb_ws/src/buggy/config/sim_single_sc.yaml b/rb_ws/src/buggy/config/sim_single_sc.yaml
index aa6836d..4b8089a 100644
--- a/rb_ws/src/buggy/config/sim_single_sc.yaml
+++ b/rb_ws/src/buggy/config/sim_single_sc.yaml
@@ -1,4 +1,10 @@
 /SC/SC_sim_single:
    ros__parameters:
-      velocity: 1
-      pose: "Hill1_SC"
\ No newline at end of file
+      velocity: 12
+      pose: "Hill1_SC"
+
+/SC/SC_controller:
+   ros__parameters:
+      dist: 10.0
+      traj_name: "buggycourse_safe.json"
+      controller: "stanley"
diff --git a/rb_ws/src/buggy/launch/sim_2d_single.xml b/rb_ws/src/buggy/launch/sim_2d_single.xml
index 968261c..508dc4c 100755
--- a/rb_ws/src/buggy/launch/sim_2d_single.xml
+++ b/rb_ws/src/buggy/launch/sim_2d_single.xml
@@ -5,13 +5,10 @@
     <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" namespace="SC"/>
     
     <node pkg="buggy" exec="engine.py" name="SC_sim_single" namespace="SC">
-        <param name="velocity" value="12"/>
-        <param name="pose" value="Hill1_SC"/>
+        <param from="$(var config_file)"/>
     </node>
     <node pkg="buggy" exec="buggy_state_converter.py" name="SC_state_converter" namespace="SC"/>
     <node pkg="buggy" exec="controller_node.py" name="SC_controller" namespace="SC">
-        <param name="dist" value="0.0"/>
-        <param name="traj_name" value="buggycourse_safe.json"/>
-        <param name="controller" value="stanley"/>
+        <param from="$(var config_file)"/>
     </node>
 </launch>
\ No newline at end of file