diff --git a/config/panda_control.yaml b/config/panda_control.yaml
index 053fbdcfa29d5b13c8753587b6ebc6b1e2179a53..94c10f3c68067aaab3a2d7795cf361f54cb8fad3 100644
--- a/config/panda_control.yaml
+++ b/config/panda_control.yaml
@@ -39,4 +39,4 @@
             - panda_joint7
         gains: [
             1, 1, 1, 1, 1, 1, 1
-        ]
\ No newline at end of file
+        ]
diff --git a/launch/simulation.launch b/launch/simulation.launch
index a982c720e046458a10b05d96603481485084859e..0639685f9548bfa2b2b848230f5f1cbecc984675 100644
--- a/launch/simulation.launch
+++ b/launch/simulation.launch
@@ -1,5 +1,4 @@
 <launch>
-    <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
 
     <!-- GAZEBO arguments -->
     <arg name="paused" default="false" />
@@ -9,6 +8,11 @@
     <arg name="debug" default="false" />
     <arg name="load_gripper" default="true" />
 
+    <!-- don't include franka_control, but include the controller stuff from there -->
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />
+    <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
+
     <!--launch GAZEBO with own world configuration -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <!-- <arg name="world_name" value="$(find robotics_assisted_tomography)/worlds/tomography.world"/> -->
@@ -19,8 +23,6 @@
         <arg name="headless" value="$(arg headless)" />
     </include>
 
-    <node name="rqt_console" pkg="rqt_console" type="rqt_console" />
-    <!-- <node name="rqt_logger_level" pkg="rqt_logger_level" type="rqt_logger_level" /> -->
 
     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model panda" />
 
@@ -28,7 +30,7 @@
     <rosparam file="$(find panda_simulation)/config/panda_control.yaml" command="load" />
 
     <!-- load the controllers -->
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller panda_arm_controller" />
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller position_joint_trajectory_controller" />
     <node if="$(arg load_gripper)" name="controller_spawner_hand" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="panda_hand_controller" />
 
 
@@ -57,14 +59,7 @@
     <!-- run custom node for automatic intialization -->
     <node pkg="panda_simulation" type="robot_state_initializer_node" name="robot_state_initializer_node" />
 
-    <!--<node name="move_group_interface_tutorial" pkg="panda_simulation" type="move_group_interface_tutorial" respawn="false" output="screen"/>-->
-
     <node name="constraint_planner" pkg="panda_simulation" type="constraint_planner" respawn="false" output="screen"/>
 
-    <!--<node name="motion_planning_api_tutorial" pkg="panda_simulation" type="motion_planning_api_tutorial" respawn="false" output="screen">
-        <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-        <param name="/planning_plugin" value="ompl_interface/OMPLPlanner"/>
-        <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml"/>
-    </node>-->
 
 </launch>
diff --git a/src/robot_state_initializer.cpp b/src/robot_state_initializer.cpp
index 1fce35bb27c14181ccb0243fb23c8099311f5e3b..4c6626d324df001a8563645c605871b40f21483e 100644
--- a/src/robot_state_initializer.cpp
+++ b/src/robot_state_initializer.cpp
@@ -20,7 +20,7 @@ int main(int argc, char **argv) {
   ros::Duration(2.0).sleep();
 
   // 1. switch from default joint trajectory controller to custom position controller
-  std::string panda_arm_controller{"panda_arm_controller"}, panda_hand_controller{"panda_hand_controller"},
+  std::string panda_arm_controller{"position_joint_trajectory_controller"}, panda_hand_controller{"panda_hand_controller"},
       joint_position_controller{"joint_position_controller"};
   std::vector<std::string> stop_controllers{panda_arm_controller, panda_hand_controller};
   std::vector<std::string> start_controllers{joint_position_controller};
@@ -72,4 +72,4 @@ int main(int argc, char **argv) {
 
   ros::spin();
   return 0;
-}
\ No newline at end of file
+}