diff --git a/config/config.yaml b/config/config.yaml
index 22d7c81f11a593a6d914f71a9882a0309101cf80..0056a34c3fe2d9622925fc12a6a799a835657619 100644
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -1,3 +1,6 @@
+connector_node_ros_cgv:
+  topics:
+    selection: "selection"
 max_grasp_approach_velocity: 0.2
 max_grasp_approach_acceleration: 0.2
 max_grasp_transition_velocity: 0.2
diff --git a/launch/cleaning/cleaning_double__dummy_controller_and_dummy_cgv.launch b/launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
similarity index 67%
rename from launch/cleaning/cleaning_double__dummy_controller_and_dummy_cgv.launch
rename to launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
index 757a39d0011b4aa5c2990c86b702803f66c68c1a..8bb339e9dab05f69708e79b02bad4883d7eb75b1 100644
--- a/launch/cleaning/cleaning_double__dummy_controller_and_dummy_cgv.launch
+++ b/launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch
@@ -1,10 +1,10 @@
 <launch>
     <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
-    <node pkg="ccf" type="dummy_cgv_controller" name="my_first_dummy_cgv_controller" output="screen">
+    <node pkg="ccf" type="dummy_cgv_controller" name="main_controller" output="screen">
         <param name="connection_address" type="string" value="tcp://*:6576" />
         <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
     </node>
-    <node pkg="ccf" type="dummy_cgv_controller" name="my_second_dummy_cgv_controller" output="screen">
+    <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
         <param name="connection_address" type="string" value="tcp://*:6586" />
         <param name="client_controllers" type="yaml" value="[]" />
     </node>
diff --git a/launch/cleaning/cleaning_dummy_main_simulated_client.launch b/launch/cleaning/cleaning_dummy_main_simulated_client.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8ccce6177645371fe60c722888599e7f0f68d7c6
--- /dev/null
+++ b/launch/cleaning/cleaning_dummy_main_simulated_client.launch
@@ -0,0 +1,13 @@
+<launch>
+    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
+
+    <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
+    <node pkg="ccf" type="moveit_cgv_controller" name="main_controller" output="screen">
+        <param name="connection_address" type="string" value="tcp://*:6576" />
+        <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
+    </node>
+    <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
+        <param name="connection_address" type="string" value="tcp://*:6586" />
+        <param name="client_controllers" type="yaml" value="[]" />
+    </node>
+</launch>
diff --git a/launch/cleaning/cleaning_simulated_main_dummy_client.launch b/launch/cleaning/cleaning_simulated_main_dummy_client.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ef9f1ebc13c8c8c2f009287c82772eef8a2a81c5
--- /dev/null
+++ b/launch/cleaning/cleaning_simulated_main_dummy_client.launch
@@ -0,0 +1,13 @@
+<launch>
+    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
+
+    <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
+    <node pkg="ccf" type="dummy_cgv_controller" name="main_controller" output="screen">
+        <param name="connection_address" type="string" value="tcp://*:6576" />
+        <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
+    </node>
+    <node pkg="ccf" type="moveit_cgv_controller" name="client_controller" output="screen">
+        <param name="connection_address" type="string" value="tcp://*:6586" />
+        <param name="client_controllers" type="yaml" value="[]" />
+    </node>
+</launch>