diff --git a/jetson/ros2_ws/src/saltybot_bridge/setup.py b/jetson/ros2_ws/src/saltybot_bridge/setup.py
index cc356ef..81bb448 100644
--- a/jetson/ros2_ws/src/saltybot_bridge/setup.py
+++ b/jetson/ros2_ws/src/saltybot_bridge/setup.py
@@ -13,11 +13,15 @@ setup(
             "launch/bridge.launch.py",
             "launch/cmd_vel_bridge.launch.py",
             "launch/remote_estop.launch.py",
+            "launch/stm32_cmd.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/stm32_cmd_params.yaml",
+            "config/battery_params.yaml",
         ]),
     ],
     install_requires=["setuptools", "pyserial"],
@@ -35,7 +39,11 @@ setup(
             "saltybot_cmd_node  = saltybot_bridge.saltybot_cmd_node:main",
             # 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",
+            "remote_estop_node  = saltybot_bridge.remote_estop_node:main",
+            # Binary-framed STM32 command node (Issue #119)
+            "stm32_cmd_node    = saltybot_bridge.stm32_cmd_node:main",
+            # Battery management node (Issue #125)
+            "battery_node      = saltybot_bridge.battery_node:main",
         ],
     },
 )