diff --git a/Robobin_Lidar_Navigation/src/super_robot/super_robot/goal_selector.py b/Robobin_Lidar_Navigation/src/super_robot/super_robot/goal_selector.py
index 9bbdc8df196796d778596a5e61d5b370bcea75aa..c783468510f8bdf3be46e23699b09ae65f21b5f9 100644
--- a/Robobin_Lidar_Navigation/src/super_robot/super_robot/goal_selector.py
+++ b/Robobin_Lidar_Navigation/src/super_robot/super_robot/goal_selector.py
@@ -3,6 +3,7 @@ from rclpy.node import Node
 from geometry_msgs.msg import PoseStamped
 from visualization_msgs.msg import Marker
 from tf_transformations import quaternion_from_euler
+from std_msgs.msg import Int32
 import time
 
 
@@ -15,7 +16,7 @@ class GoalSelector(Node):
 
         # Marker publisher for RViz2 visualization
         self.marker_publisher = self.create_publisher(Marker, '/goal_markers', 10)
-
+        self.call_subscriber = self.create_subscription(Int32, '/nav_command_lidar', self.handle_call, 10)
         # Predefined goal points with positions and angles
         self.goals = [
             {"x": 0.622, "y": -0.714, "angle": -1.600}, #1
@@ -38,7 +39,7 @@ class GoalSelector(Node):
 
         self.get_logger().info("Goal Selector Node Started.")
         self.publish_goal_markers()  # Visualize all goals in RViz2
-        self.show_menu()
+        # self.show_menu()
 
     def publish_goal_markers(self):
 
@@ -120,6 +121,8 @@ class GoalSelector(Node):
                     print("Invalid choice, please try again.")
             else:
                 print("Invalid input, please enter a number.")
+    def handle_call(self, msg):
+        self.publish_goal(self.goals[msg.data - 1])
 
     def publish_goal(self, goal):
         """Publish the selected goal as a PoseStamped message."""
diff --git a/ros2/src/robobin/launch/robobin_launch.py b/ros2/src/robobin/launch/robobin_launch.py
index 50e80250ab233bc37ef956ae088274e6912ecc68..8fae6e6b25e14ae5a875d35637a54126df60e679 100755
--- a/ros2/src/robobin/launch/robobin_launch.py
+++ b/ros2/src/robobin/launch/robobin_launch.py
@@ -35,6 +35,13 @@ def generate_launch_description():
             output='screen',
             emulate_tty=True
         ),
+        Node(
+            package='robobin',
+            executable='uwb_navigation_node',
+            name='uwb_navigation_node',
+            output='screen',
+            emulate_tty=True
+        )
 
 
         # Add additional nodes
diff --git a/ros2/src/robobin/launch/robobin_no_components_launch.py b/ros2/src/robobin/launch/robobin_no_components_launch.py
index 725aab91b4fd571cb3f61b992b5b6be1706aef6d..f6cbd691b21e1e74f229e83057cc9b2aac103ff5 100644
--- a/ros2/src/robobin/launch/robobin_no_components_launch.py
+++ b/ros2/src/robobin/launch/robobin_no_components_launch.py
@@ -14,12 +14,12 @@ def generate_launch_description():
 
         ),
 
-        Node(
-            package='robobin',
-            executable='control_feedback',    
-            name='control_feedback',
-            output='screen',
-            emulate_tty=True
-        ),
+        # Node(
+        #     package='robobin',
+        #     executable='control_feedback',    
+        #     name='control_feedback',
+        #     output='screen',
+        #     emulate_tty=True
+        # ),
         
         ])
\ No newline at end of file
diff --git a/ros2/src/robobin/setup.py b/ros2/src/robobin/setup.py
index 489980a1de2829a169ae52292f59fee539b65ffa..67167e89385117f85e338650698e1a05bcfa60cc 100644
--- a/ros2/src/robobin/setup.py
+++ b/ros2/src/robobin/setup.py
@@ -30,6 +30,7 @@ setup(
             'motor_node = robobin.motor_control_node:main',
             'encoder_node = robobin.encoder:main',
             'control_feedback = robobin.control_feedback:main',
+            "uwb_navigation_node = robobin.uwb_navigation_node:main",
         ],
     },
 )