diff --git a/rb_ws/src/buggy/launch/nand_ghost_launch.xml b/rb_ws/src/buggy/launch/nand_ghost_launch.xml
index 8c355ab0..4b853ffc 100644
--- a/rb_ws/src/buggy/launch/nand_ghost_launch.xml
+++ b/rb_ws/src/buggy/launch/nand_ghost_launch.xml
@@ -10,10 +10,16 @@
     <node pkg="buggy" exec="controller_node.py" name="SC_controller" output = "screen" namespace="SC">
             <param from="$(var config_file)"/>
     </node>
+
     <node pkg="buggy" exec="path_planner.py" name="SC_path_planner" namespace="SC" output = "screen">
         <param from="$(var config_file)"/>
     </node>
 
+    <node pkg="ros2topic" exec="relay" name="relay_node">
+        <param name="from_topic" value="/NAND/self/state"/>
+        <param name="to_topic" value="/SC/other/state"/>
+    </node>
+
     <node pkg="buggy" exec="engine.py" name="NAND_sim_single" output = "screen" namespace="NAND">
         <param from="$(var config_file)"/>
     </node>