diff --git a/jetson/ros2_ws/src/saltybot_bridge/package.xml b/jetson/ros2_ws/src/saltybot_bridge/package.xml
index 9aeaace..05a1cc8 100644
--- a/jetson/ros2_ws/src/saltybot_bridge/package.xml
+++ b/jetson/ros2_ws/src/saltybot_bridge/package.xml
@@ -15,6 +15,8 @@
   <depend>python3-paho-mqtt</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>geometry_msgs</depend>
   <depend>diagnostic_msgs</depend>
 
   <test_depend>ament_copyright</test_depend>
diff --git a/jetson/ros2_ws/src/saltybot_bridge/setup.py b/jetson/ros2_ws/src/saltybot_bridge/setup.py
index cc356ef..06b7f87 100644
--- a/jetson/ros2_ws/src/saltybot_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py
@@ -13,11 +13,13 @@ setup(
             "launch/bridge.launch.py",
             "launch/cmd_vel_bridge.launch.py",
             "launch/remote_estop.launch.py",
+            "launch/battery.launch.py",
         ]),
         (f"share/{package_name}/config", [
             "config/bridge_params.yaml",
             "config/cmd_vel_bridge_params.yaml",
             "config/estop_params.yaml",
+            "config/battery_params.yaml",
         ]),
     ],
     install_requires=["setuptools", "pyserial"],
@@ -36,6 +38,8 @@ setup(
             # Nav2 cmd_vel bridge: velocity limits + ramp + deadman + mode gate
             "cmd_vel_bridge_node = saltybot_bridge.cmd_vel_bridge_node:main",
             "remote_estop_node = saltybot_bridge.remote_estop_node:main",
+            # Battery management: SoC, alerts, speed limits, SQLite history
+            "battery_node = saltybot_bridge.battery_node:main",
         ],
     },
 )