diff --git a/src/roboglue_ros/launch/roboglue_ros_urdriver.launch b/src/roboglue_ros/launch/roboglue_ros_urdriver.launch
index 964d892..f8f7bf4 100644
--- a/src/roboglue_ros/launch/roboglue_ros_urdriver.launch
+++ b/src/roboglue_ros/launch/roboglue_ros_urdriver.launch
@@ -59,19 +59,19 @@
     </node>
 
     <!-- Frame Transform Broadcaster -->
-    <node name="roboglue_ros_broadcaster" pkg="roboglue_ros" type="roboglue_ros_broadcaster" output="screen" required="true">
+    <node name="roboglue_ros_broadcaster" pkg="roboglue_ros" type="roboglue_ros_broadcaster" output="screen" required="false">
         <param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
         <param name="tf_pub_rate" type="int" value="10" />
     </node>
 
     <!-- Real Time Tracking -->
-    <node name="roboglue_ros_follower" pkg="roboglue_ros" type="roboglue_ros_follower" output="screen" required="true">
+    <node name="roboglue_ros_follower" pkg="roboglue_ros" type="roboglue_ros_follower" output="screen" required="false">
         <param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
         <param name="jog_pub_rate" type="int" value="5" />
     </node>
 
     <!-- Tracking data Recorder/Player -->
-    <node name="roboglue_ros_recorder" pkg="roboglue_ros" type="roboglue_ros_recorder" output="screen" required="true">
+    <node name="roboglue_ros_recorder" pkg="roboglue_ros" type="roboglue_ros_recorder" output="screen" required="false">
         <param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
         <param name="point_group_mode" type="string" value="dist" />
         <param name="planning_mode" type="string" value="path" />