# Running ROS launch on Local Desktop **URL:** \ **Category:** Ask\ **Created:** [August 29, 2023, 8:26pm UTC](https://forum.hello-robot.com/t/running-ros-launch-on-local-desktop/796 "2023-08-29T20:26:24Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![JannaLam](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jannalam/32/539_2.png) [@JannaLam](https://forum.hello-robot.com/u/JannaLam)\ **Post date:** [August 29, 2023, 8:26pm UTC](https://forum.hello-robot.com/t/running-ros-launch-on-local-desktop/796/1 "2023-08-29T20:26:24Z")
Hey! We are working on multi-robot communication that allows our stretches to be controlled on our master local desktop. However, it seems that the stretch\_core must be run on the stretch. Does it mean that we can only allow one stretch to be the master instead of the local desktop? Also, is it a must that we launch stretch\_core before launching other launch files? Can we integrate stretch\_core launch and another launch in one file? Thanks! ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [August 30, 2023, 4:39pm UTC](https://forum.hello-robot.com/t/running-ros-launch-on-local-desktop/796/2 "2023-08-30T16:39:09Z")
Hi @JannaLam! It’s true that stretch\_core must be run on Stretch, but that doesn’t mean you must run ROS master a single Stretch. You can launch roscore on your desktop first (making it the ROS master), and then launch the drivers on each robot (each of which connect to the master). With this setup, you’d be able to control multiple robots from your desktop. Keep in mind that to differentiate between robots, you’ll need to [remap](http://wiki.ros.org/roslaunch/XML/remap) the topics for each Stretch to a namespace unique to each robot. Generally, you do want stretch\_core to launch **before or together with** other launch files because the drivers in stretch\_core access the hardware present on each robot (e.g. the motors and sensors) and make them available to the rest of the ROS system. It’s common to launch stretch\_driver.launch together with other launch files by [including](http://wiki.ros.org/roslaunch/XML/include) these launch files in a single one. ---
**Author:** ![JannaLam](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jannalam/32/539_2.png) [@JannaLam](https://forum.hello-robot.com/u/JannaLam)\ **Post date:** [August 30, 2023, 9:07pm UTC](https://forum.hello-robot.com/t/running-ros-launch-on-local-desktop/796/3 "2023-08-30T21:07:43Z")
Thank you!!! It works!!!