Hello Felix,
probably I don't have enough details to give you a complete hint.
However, the solution usually suggested is to create your own recipe, perhaps using "recipetool create" [1] and then adapt its content (this is what I usually explain during my Yocto training courses).
Then you can include in your recipe the installation and the management of a launcher script and its systemd service for example (if you are using systemd) [2].
 
[1] https://docs.yoctoproject.org/next/dev-manual/new-recipe.html?highlight=systemd
[2] https://wiki.koansoftware.com/index.php/Add_a_systemd_service_file_into_a_Yocto_image
 
Marco Cavallini
Yocto Project ambassador