diff --git a/subt_ros/launch/competition_init.launch b/subt_ros/launch/competition_init.launch
index 3afadc06..9c92ae90 100644
--- a/subt_ros/launch/competition_init.launch
+++ b/subt_ros/launch/competition_init.launch
@@ -12,24 +12,27 @@
   <param name="/world_name" value="$(arg world_name)"/>
   <rosparam param="/robot_names" subst_value='true'>$(arg robot_names)</rosparam>
 
-  <node pkg="ros_ign_bridge" type="parameter_bridge" name="$(anon ros_ign_bridge)" args="/clock@rosgraph_msgs/Clock[ignition.msgs.Clock">
+  <node pkg="ros_ign_bridge" type="parameter_bridge" name="$(anon ros_ign_bridge)" args="/clock@rosgraph_msgs/Clock" required="true">
   </node>
 
   <node
     pkg="subt_ros"
     type="subt_ros_relay"
-    name="subt_ros_relay"/>
+    name="subt_ros_relay"
+    required="true"/>
 
   <node
     pkg="subt_ros"
     type="bridge_logger"
-    name="bridge_logger"/>
+    name="bridge_logger"
+    required="true"/>
 
 
   <node
     pkg="subt_ros"
     type="rostopic_stats_logger.sh"
-    name="rostopic_stats_logger"/>
+    name="rostopic_stats_logger"
+    required="true"/>
 
   <group if="$(arg enable_ground_truth)">
     <!-- In the case that ground truth is enabled, also relay the /set_pose
@@ -39,9 +42,10 @@
     <node
       pkg="subt_ros"
       type="set_pose_relay"
-      name="set_pose_relay"/>
+      name="set_pose_relay"
+      required="true"/>
   </group>
 
-  <node pkg="tf2_ros" type="static_transform_publisher" name="tf_world_static" args="0 0 0 0 0 0 world $(arg world_name)"/>
+  <node pkg="tf2_ros" type="static_transform_publisher" name="tf_world_static" args="0 0 0 0 0 0 world $(arg world_name)" required="true"/>
 
 </launch>