diff --git a/cob_bringup/package.xml b/cob_bringup/package.xml
index 7b22b97d7..b139cacf6 100644
--- a/cob_bringup/package.xml
+++ b/cob_bringup/package.xml
@@ -24,6 +24,7 @@
   <exec_depend>cob_calibration_data</exec_depend>
   <exec_depend>cob_cam3d_throttle</exec_depend>
   <exec_depend>cob_camera_sensors</exec_depend>
+  <exec_depend>cob_collision_monitor</exec_depend>
   <exec_depend>cob_collision_velocity_filter</exec_depend>
   <exec_depend>cob_command_gui</exec_depend>
   <exec_depend>cob_control_mode_adapter</exec_depend>
diff --git a/cob_bringup/robots/cob4-1.xml b/cob_bringup/robots/cob4-1.xml
index a345ccaaf..43996fa89 100644
--- a/cob_bringup/robots/cob4-1.xml
+++ b/cob_bringup/robots/cob4-1.xml
@@ -39,10 +39,13 @@
 			<arg name="robot" value="$(arg robot)" />
 			<arg name="name" value="base_laser_left" />
 		</include>
+		<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
+			<arg name="robot" value="$(arg robot)" />
+		</include>
 		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
+		<include file="$(find cob_bringup)/tools/collision_monitor.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
 
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index ab0821db4..8918e95f9 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -39,10 +39,13 @@
 			<arg name="robot" value="$(arg robot)" />
 			<arg name="name" value="base_laser_left" />
 		</include>
+		<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
+			<arg name="robot" value="$(arg robot)" />
+		</include>
 		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch" >
+		<include file="$(find cob_bringup)/tools/collision_monitor.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
 
diff --git a/cob_bringup/tools/collision_monitor.launch b/cob_bringup/tools/collision_monitor.launch
new file mode 100644
index 000000000..3e66e3b7e
--- /dev/null
+++ b/cob_bringup/tools/collision_monitor.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<launch>
+
+	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
+
+	<arg name="load_robot_description" default="false"/>
+	<arg name="pkg_moveit_config" default="$(find cob_moveit_config)"/>
+	
+	<!-- Load SRDF -->
+	<include file="$(arg pkg_moveit_config)/launch/planning_context.xml">
+		<arg name="load_robot_description" value="$(arg load_robot_description)" />
+		<arg name="robot" value="$(arg robot)" />
+		<arg name="config_path" value="$(arg pkg_moveit_config)/$(arg robot)/config" />
+	</include>
+
+	<!-- start collision monitor node -->
+	<node pkg="cob_collision_monitor" type="cob_collision_monitor_node" name="cob_collision_monitor_node">
+		<remap from="/cob_collision_monitor_node/state_is_valid" to="/safety_controller/state_is_valid"/>
+	</node>
+
+</launch>