diff --git a/launch_segbot_base/launch/common.launch b/launch_segbot_base/launch/common.launch
index 9b50b3b0..acaa8224 100644
--- a/launch_segbot_base/launch/common.launch
+++ b/launch_segbot_base/launch/common.launch
@@ -46,7 +46,7 @@
   <!-- interruptable physical and logical navigation -->
   <include file="$(find segbot_navigation)/launch/interruptable_navigation.launch">
     <arg name="global_frame" value="$(arg global_frame)" />
-    <arg name="config" default="$(arg move_base_config)" />
+    <arg name="move_base_config" value="$(arg move_base_config)" />
   </include>
 
   <!-- knowledge representation, reasoning, and planing -->
diff --git a/launch_segbot_base/launch/v2.launch b/launch_segbot_base/launch/v2.launch
index 03033643..a89166b5 100644
--- a/launch_segbot_base/launch/v2.launch
+++ b/launch_segbot_base/launch/v2.launch
@@ -1,8 +1,11 @@
 <!-- segbot_v2 base -->
 <launch>
 
+  <arg name="gui" value="true" />
+
   <!-- common components -->
   <include file="$(find launch_segbot_base)/launch/common.launch">
+    <arg name="gui" default="$(arg gui)" />
     <arg name="move_base_config" default="segbotv2" />
   </include>
 
@@ -11,7 +14,4 @@
     <arg name="gui" value="$(arg gui)" />
   </include>
 
-  <!-- other devices -->
-  <include file="$(find segbot_bringup)/launch/includes/auxiliary.segbot_v2.launch.xml"/>
-
 </launch>
diff --git a/launch_segbot_base/launch/v3.launch b/launch_segbot_base/launch/v3.launch
index 86c46201..63a53179 100644
--- a/launch_segbot_base/launch/v3.launch
+++ b/launch_segbot_base/launch/v3.launch
@@ -1,8 +1,11 @@
 <!-- segbot_v3 base -->
 <launch>
 
+  <arg name="gui" value="true" />
+
   <!-- common components -->
   <include file="$(find launch_segbot_base)/launch/common.launch">
+    <arg name="gui" default="$(arg gui)" />
     <arg name="move_base_config" value="segbotv3" />
   </include>
 
@@ -11,7 +14,4 @@
     <arg name="gui" value="$(arg gui)" />
   </include>
 
-  <!-- other devices -->
-  <include file="$(find segbot_bringup)/launch/includes/auxiliary.segbot_v3.launch.xml"/>
-
 </launch>
diff --git a/launch_segbot_base/package.xml b/launch_segbot_base/package.xml
index 5a823524..3839a88f 100644
--- a/launch_segbot_base/package.xml
+++ b/launch_segbot_base/package.xml
@@ -21,11 +21,13 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <exec_depend>bwi_kr_execution</exec_depend>
+  <exec_depend>bwi_logging</exec_depend>
   <exec_depend>bwi_rqt_plugins</exec_depend>
   <exec_depend>bwi_virtour</exec_depend>
   <exec_depend>multi_level_map_server</exec_depend>
   <exec_depend>multi_level_map_utils</exec_depend>
-  <exec_depend>segbot_bringup</exec_depend> <!-- eliminate this depend -->
+  <exec_depend>segbot_bringup</exec_depend>
+  <exec_depend>segbot_led</exec_depend>
   <exec_depend>segbot_navigation</exec_depend>
   <exec_depend>utexas_gdc</exec_depend>
 
diff --git a/segbot_bringup/launch/includes/auxiliary.segbot_v3.launch.xml b/segbot_bringup/launch/includes/auxiliary.segbot_v3.launch.xml
index 87eee0ba..d425c587 100644
--- a/segbot_bringup/launch/includes/auxiliary.segbot_v3.launch.xml
+++ b/segbot_bringup/launch/includes/auxiliary.segbot_v3.launch.xml
@@ -11,7 +11,8 @@
     command="$(find xacro)/xacro '$(arg urdf_file)' use_full_gazebo_model:=$(arg use_full_gazebo_model)" />
 
   <!-- launch the tf tree -->
-  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+  <node pkg="robot_state_publisher" type="robot_state_publisher"
+        name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="5.0" />
   </node>
 
diff --git a/segbot_bringup/package.xml b/segbot_bringup/package.xml
index 64e9386d..aa396c67 100644
--- a/segbot_bringup/package.xml
+++ b/segbot_bringup/package.xml
@@ -27,9 +27,8 @@
   <exec_depend>segbot_description</exec_depend>
   <exec_depend>segbot_sensors</exec_depend>
   <exec_depend>segway_rmp</exec_depend>
-  <!-- segway_v3 packages commented out until released publicly -->
-  <!-- <exec_depend>segway_msgs</exec_depend> -->
-  <!-- <exec_depend>segway_ros</exec_depend> -->
+  <exec_depend>segway_msgs</exec_depend>
+  <exec_depend>segway_ros</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>stop_base</exec_depend>
   <exec_depend>tf</exec_depend>