diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index 11098d3585fd98917b91e73a1340269aa75adb58..1b2fe028515f3a31e33037665c0e09f0020c99ae 100644
--- a/franka_control/launch/franka_control.launch
+++ b/franka_control/launch/franka_control.launch
@@ -14,7 +14,7 @@
 
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
-    <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="franka_state_controller --shutdown-timeout 2"/>
+    <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="franka_state_controller"/>
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
     <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
       <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
diff --git a/franka_example_controllers/launch/cartesian_impedance_example_controller.launch b/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
index d4de9d4773252380b80d243d05726800a6d0fbfd..a1417a072444683c39a080d544f7d480a0d6c196 100644
--- a/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_impedance_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_impedance_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz"/>
     <node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen" />
     <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
index 3611c66c09af66b33b67f2b679f13a0822b9875f..ddc2184e303c2e78c77d9427664fd77471a96c11 100644
--- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
index b7bfc305cec5683733141f8001fc24332b6add01..e1df8cda955ea91ac9039aaeaa03be94ba3b5662 100644
--- a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/force_example_controller.launch b/franka_example_controllers/launch/force_example_controller.launch
index 76f16691ae1c00ab6607217fd67c804e6b5ee467..0eee3686ffccc5be71e5633cd6eea0f76142e1f3 100644
--- a/franka_example_controllers/launch/force_example_controller.launch
+++ b/franka_example_controllers/launch/force_example_controller.launch
@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="force_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="force_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
     <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
   </group>
diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch
index e3a488e5f1a556736fc75b5107c9642f4681d0d6..310789644061dd75835a0bb3083f557d6c590d5e 100644
--- a/franka_example_controllers/launch/joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch
@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch
index 2cab22d838a8bb26535c0d05b7120717e9fe88fb..f68b812fd0f15632c725d6966f7eed466f96bc42 100644
--- a/franka_example_controllers/launch/joint_position_example_controller.launch
+++ b/franka_example_controllers/launch/joint_position_example_controller.launch
@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/joint_velocity_example_controller.launch b/franka_example_controllers/launch/joint_velocity_example_controller.launch
index ed8b84b0d2f7ad8ce7bf5464d842fde1e0064b7a..ed8925f19d5cd321226ece8a08261642912aeaed 100644
--- a/franka_example_controllers/launch/joint_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/joint_velocity_example_controller.launch
@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch
index 1f1b2405f9e8914df00c4dce50cf47ac625bba52..e7475bdc480adac14f423c07015af6eb268dc772 100644
--- a/franka_example_controllers/launch/model_example_controller.launch
+++ b/franka_example_controllers/launch/model_example_controller.launch
@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/src/joint_impedance_example_controller.cpp b/franka_example_controllers/src/joint_impedance_example_controller.cpp
index bf6aad553a56315ace6ae2ebfbd5f022b5ea3c5c..991713c9cd5057ad9939fed35ce7a2160d8c585c 100644
--- a/franka_example_controllers/src/joint_impedance_example_controller.cpp
+++ b/franka_example_controllers/src/joint_impedance_example_controller.cpp
@@ -199,7 +199,6 @@ void JointImpedanceExampleController::update(const ros::Time& /*time*/,
   for (size_t i = 0; i < 7; ++i) {
     last_tau_d_[i] = tau_d[i] + gravity[i];
   }
-  return;
 }
 
 }  // namespace franka_example_controllers
diff --git a/panda_moveit_config/launch/panda_moveit.launch b/panda_moveit_config/launch/panda_moveit.launch
index 4af35f9af5a4cb1df73dac5949bd98d8bb97249d..a879467f3b7a9e5122e095ccf36f14231585e8da 100644
--- a/panda_moveit_config/launch/panda_moveit.launch
+++ b/panda_moveit_config/launch/panda_moveit.launch
@@ -5,7 +5,7 @@
   <arg name="controller" default="position" />
 
   <group ns="$(arg arm_id)">
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller"/>
     <include file="$(find panda_moveit_config)/launch/move_group.launch" />
   </group>
 </launch>