diff --git a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
index 92d15f7..f0d80c7 100644
--- a/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
+++ b/clearpath_generator_robot/clearpath_generator_robot/launch/generator.py
@@ -32,6 +32,7 @@
 # modification, is not permitted without the express permission
 # of Clearpath Robotics.
 
+from clearpath_config.platform.battery import BatteryConfig
 from clearpath_generator_common.common import LaunchFile, Package
 from clearpath_generator_common.launch.writer import LaunchWriter
 from clearpath_generator_common.launch.generator import LaunchGenerator
@@ -149,6 +150,34 @@ def __init__(self, setup_path: str = '/etc/clearpath/') -> None:
             arguments=['-s', setup_path]
         )
 
+        # Valence BMS
+        self.bms_launch_file = None
+        if (self.clearpath_config.platform.battery.model in 
+            [BatteryConfig.VALENCE_U24_12XP, BatteryConfig.VALENCE_U27_12XP]):
+
+            can_dev = 'can1'
+            bms_id = '0'
+
+            launch_args = self.clearpath_config.platform.battery.launch_args
+
+            if launch_args:
+               if 'can_device' in launch_args: 
+                   can_dev = launch_args['can_device']
+               if 'bms_id' in launch_args: 
+                   bms_id = launch_args['bms_id']
+
+            bms_launch_args = [
+                ('namespace', self.namespace),
+                ('can_device', can_dev),
+                ('bms_id', bms_id),
+            ]
+
+            self.bms_launch_file = LaunchFile(
+                'bms',
+                package=Package('valence_bms_driver'),
+                args=bms_launch_args
+                )
+
         # Lighting
         self.lighting_node = LaunchFile.Node(
           package='clearpath_platform',
@@ -247,4 +276,7 @@ def generate_platform(self) -> None:
         for component in self.platform_components[self.platform_model]:
             platform_service_launch_writer.add(component)
 
+        if self.bms_launch_file:
+            platform_service_launch_writer.add(self.bms_launch_file)
+
         platform_service_launch_writer.generate_file()
diff --git a/clearpath_generator_robot/package.xml b/clearpath_generator_robot/package.xml
index d223108..8e8b2ca 100644
--- a/clearpath_generator_robot/package.xml
+++ b/clearpath_generator_robot/package.xml
@@ -17,6 +17,7 @@
   <exec_depend>imu_filter_madgwick</exec_depend>
   <exec_depend>micro_ros_agent</exec_depend>
   <exec_depend>sevcon_traction</exec_depend>
+  <exec_depend>valence_bms_driver</exec_depend>
   <exec_depend>wireless_watcher</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>