A calf injury has hampered Palmer's preparations for Saturday's clash with Fiji at Twickenham and Launchbury will link up with the England squad on Tuesday.
Launchbury is having a recovery day following Wasps' 29-24 defeat to Saracens in the Aviva Premiership Round 8 match on Sunday.
England head coach Stuart Lancaster said: "Tom's training was limited last week because of a calf injury so we are bringing Joe in as a precaution and because of the form he has shown recently.
"We know that he will fit in to the squad well having played in the Barbarians match and in the preparation for the South Africa tour."
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The entire All Blacks apparel line has been updated for 2013/14. Check out the New Zealand All Blacks polo.
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