diff --git a/startup/kopterworx_manipulator_one_flying/.tmuxinator.yml b/startup/kopterworx_manipulator_one_flying/.tmuxinator.yml
new file mode 100644
index 0000000..5898a0a
--- /dev/null
+++ b/startup/kopterworx_manipulator_one_flying/.tmuxinator.yml
@@ -0,0 +1,27 @@
+name: single_kopter
+root: ./
+startup_window: roscore
+pre_window: export UAV_NAMESPACE=red
+windows:
+  - roscore:
+      layout: tiled
+      panes:
+        - roscore
+        - export SITL_RITW_TERMINAL="tmux new-window -d -n:ardupilot1"; waitForRos; 
+          roslaunch ardupilot_gazebo sim_vehicle.launch 
+          enable_console:=false
+          additional_arguments:="--no-rebuild"
+        - waitForRos; rosparam set use_sim_time true; roslaunch ardupilot_gazebo mavros.launch 
+  - gazebo:
+      layout: tiled
+      panes:
+        - waitForRos; bash -c "source /root/uam_ws/devel/setup.bash; roslaunch ardupilot_gazebo kopterworx.launch use_sim_time:=true enable_manipulator:=true"
+  - arm&takeof:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch uav_ros_control pid_carrot.launch
+        - rosrun ardupilot_gazebo automatic_takeoff.sh 2
+  - trajectory:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch uav_ros_tracker topp_tracker.launch
diff --git a/startup/kopterworx_manipulator_one_flying/session.yml b/startup/kopterworx_manipulator_one_flying/session.yml
new file mode 100644
index 0000000..5898a0a
--- /dev/null
+++ b/startup/kopterworx_manipulator_one_flying/session.yml
@@ -0,0 +1,27 @@
+name: single_kopter
+root: ./
+startup_window: roscore
+pre_window: export UAV_NAMESPACE=red
+windows:
+  - roscore:
+      layout: tiled
+      panes:
+        - roscore
+        - export SITL_RITW_TERMINAL="tmux new-window -d -n:ardupilot1"; waitForRos; 
+          roslaunch ardupilot_gazebo sim_vehicle.launch 
+          enable_console:=false
+          additional_arguments:="--no-rebuild"
+        - waitForRos; rosparam set use_sim_time true; roslaunch ardupilot_gazebo mavros.launch 
+  - gazebo:
+      layout: tiled
+      panes:
+        - waitForRos; bash -c "source /root/uam_ws/devel/setup.bash; roslaunch ardupilot_gazebo kopterworx.launch use_sim_time:=true enable_manipulator:=true"
+  - arm&takeof:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch uav_ros_control pid_carrot.launch
+        - rosrun ardupilot_gazebo automatic_takeoff.sh 2
+  - trajectory:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch uav_ros_tracker topp_tracker.launch
diff --git a/startup/kopterworx_manipulator_one_flying/start.sh b/startup/kopterworx_manipulator_one_flying/start.sh
new file mode 100755
index 0000000..b515296
--- /dev/null
+++ b/startup/kopterworx_manipulator_one_flying/start.sh
@@ -0,0 +1,16 @@
+#!/bin/bash
+
+# Absolute path to this script. /home/user/bin/foo.sh
+SCRIPT=$(readlink -f $0)
+# Absolute path this script is in. /home/user/bin
+SCRIPTPATH=`dirname $SCRIPT`
+cd "$SCRIPTPATH"
+
+# remove the old link
+rm .tmuxinator.yml
+
+# link the session file to .tmuxinator.yml
+ln session.yml .tmuxinator.yml
+
+# start tmuxinator
+tmuxinator
\ No newline at end of file