diff --git a/etsi_its_conversion/etsi_its_conversion/launch/converter.launch.py b/etsi_its_conversion/etsi_its_conversion/launch/converter.launch.py
index 5b5efa8de..567dff80c 100644
--- a/etsi_its_conversion/etsi_its_conversion/launch/converter.launch.py
+++ b/etsi_its_conversion/etsi_its_conversion/launch/converter.launch.py
@@ -1,25 +1,87 @@
 #!/usr/bin/env python
 
-import os
 from ament_index_python import get_package_share_directory
 from launch import LaunchDescription
-from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node, SetParameter
 
 def generate_launch_description():
 
-    config = os.path.join(
-        get_package_share_directory("etsi_its_conversion"),
-        "config",
-        "params.yml"
+    params_arg = DeclareLaunchArgument('params', default_value='params.yml')
+    config = PathJoinSubstitution([
+        get_package_share_directory("etsi_its_conversion"), "config", LaunchConfiguration('params')
+    ])
+    
+    node_name_arg = DeclareLaunchArgument('node_name', default_value='etsi_its_conversion')
+    use_sim_time_arg = DeclareLaunchArgument('use_sim_time', default_value='False')
+    log_level_arg = DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)")
+
+    input_udp_topic_arg = DeclareLaunchArgument('input_udp_topic', default_value='~/udp/in')
+    output_udp_topic_arg = DeclareLaunchArgument('output_udp_topic', default_value='~/udp/out')
+    input_cam_topic_arg = DeclareLaunchArgument('input_cam_topic', default_value='~/cam/in')
+    output_cam_topic_arg = DeclareLaunchArgument('output_cam_topic', default_value='~/cam/out')
+    input_cam_ts_topic_arg = DeclareLaunchArgument('input_cam_ts_topic', default_value='~/cam_ts/in')
+    output_cam_ts_topic_arg = DeclareLaunchArgument('output_cam_ts_topic', default_value='~/cam_ts/out')
+    input_cpm_ts_topic_arg = DeclareLaunchArgument('input_cpm_ts_topic', default_value='~/cpm_ts/in')
+    output_cpm_ts_topic_arg = DeclareLaunchArgument('output_cpm_ts_topic', default_value='~/cpm_ts/out')
+    input_denm_topic_arg = DeclareLaunchArgument('input_denm_topic', default_value='~/denm/in')
+    output_denm_topic_arg = DeclareLaunchArgument('output_denm_topic', default_value='~/denm/out')
+    input_mapem_ts_topic_arg = DeclareLaunchArgument('input_mapem_ts_topic', default_value='~/mapem_ts/in')
+    output_mapem_ts_topic_arg = DeclareLaunchArgument('output_mapem_ts_topic', default_value='~/mapem_ts/out')
+    input_spatem_ts_topic_arg = DeclareLaunchArgument('input_spatem_ts_topic', default_value='~/spatem_ts/in')
+    output_spatem_ts_topic_arg = DeclareLaunchArgument('output_spatem_ts_topic', default_value='~/spatem_ts/out')
+    input_vam_ts_topic_arg = DeclareLaunchArgument('input_vam_ts_topic', default_value='~/vam_ts/in')
+    output_vam_ts_topic_arg = DeclareLaunchArgument('output_vam_ts_topic', default_value='~/vam_ts/out')
+
+    node = Node(
+        package="etsi_its_conversion",
+        executable="etsi_its_conversion_node",
+        name=LaunchConfiguration('node_name'),
+        namespace="",
+        output="screen",
+        emulate_tty=True,
+        arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+        parameters=[config],
+        remappings=[('~/udp/in', LaunchConfiguration('input_udp_topic')),
+                    ('~/udp/out', LaunchConfiguration('output_udp_topic')),
+                    ('~/cam/in', LaunchConfiguration('input_cam_topic')),
+                    ('~/cam/out', LaunchConfiguration('output_cam_topic')),
+                    ('~/cam_ts/in', LaunchConfiguration('input_cam_ts_topic')),
+                    ('~/cam_ts/out', LaunchConfiguration('output_cam_ts_topic')),
+                    ('~/cpm_ts/in', LaunchConfiguration('input_cpm_ts_topic')),
+                    ('~/cpm_ts/out', LaunchConfiguration('output_cpm_ts_topic')),
+                    ('~/denm/in', LaunchConfiguration('input_denm_topic')),
+                    ('~/denm/out', LaunchConfiguration('output_denm_topic')),
+                    ('~/mapem_ts/in', LaunchConfiguration('input_mapem_ts_topic')),
+                    ('~/mapem_ts/out', LaunchConfiguration('output_mapem_ts_topic')),
+                    ('~/spatem_ts/in', LaunchConfiguration('input_spatem_ts_topic')),
+                    ('~/spatem_ts/out', LaunchConfiguration('output_spatem_ts_topic')),
+                    ('~/vam_ts/in', LaunchConfiguration('input_vam_ts_topic')),
+                    ('~/vam_ts/out', LaunchConfiguration('output_vam_ts_topic'))]
     )
 
     return LaunchDescription([
-        Node(
-            package="etsi_its_conversion",
-            executable="etsi_its_conversion_node",
-            name="etsi_its_conversion",
-            output="screen",
-            emulate_tty=True,
-            parameters=[config]
-        )
+        params_arg,
+        node_name_arg,
+        use_sim_time_arg,
+        log_level_arg,
+        input_udp_topic_arg,
+        output_udp_topic_arg,
+        input_cam_topic_arg,
+        output_cam_topic_arg,
+        input_cam_ts_topic_arg,
+        output_cam_ts_topic_arg,
+        input_cpm_ts_topic_arg,
+        output_cpm_ts_topic_arg,
+        input_denm_topic_arg,
+        output_denm_topic_arg,
+        input_mapem_ts_topic_arg,
+        output_mapem_ts_topic_arg,
+        input_spatem_ts_topic_arg,
+        output_spatem_ts_topic_arg,
+        input_vam_ts_topic_arg,
+        output_vam_ts_topic_arg,
+        SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')),
+        node        
     ])