diff --git a/webots_ros2_turtlebot/launch/robot_launch.py b/webots_ros2_turtlebot/launch/robot_launch.py
index 929aaa685..9a00231d5 100644
--- a/webots_ros2_turtlebot/launch/robot_launch.py
+++ b/webots_ros2_turtlebot/launch/robot_launch.py
@@ -38,6 +38,22 @@ def generate_launch_description():
         world=PathJoinSubstitution([package_dir, 'worlds', world])
     )
 
+    diffdrive_controller_spawner = Node(
+        package='controller_manager',
+        executable='spawner.py',
+        output='screen',
+        prefix="bash -c 'sleep 10; $0 $@' ",
+        arguments=['diffdrive_controller'],
+    )
+
+    joint_state_broadcaster_spawner = Node(
+        package='controller_manager',
+        executable='spawner.py',
+        output='screen',
+        prefix="bash -c 'sleep 10; $0 $@' ",
+        arguments=['joint_state_broadcaster'],
+    )
+
     turtlebot_driver = Node(
         package='webots_ros2_driver',
         executable='driver',
@@ -73,6 +89,8 @@ def generate_launch_description():
             default_value='turtlebot3_burger_example.wbt',
             description='Choose one of the world files from `/webots_ros2_turtlebot/world` directory'
         ),
+        joint_state_broadcaster_spawner,
+        diffdrive_controller_spawner,
         webots,
         robot_state_publisher,
         turtlebot_driver,