diff --git a/launch/ur10_bringup.launch b/launch/ur10_bringup.launch
index f27efb3..34582d9 100644
--- a/launch/ur10_bringup.launch
+++ b/launch/ur10_bringup.launch
@@ -7,24 +7,45 @@
     ur10_bringup.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
   <arg name="prefix" default="" />
+  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
+  <arg name="time_interval" default="0.008"/>
+  <arg name="servoj_time" default="0.008" />
+  <arg name="servoj_time_waiting" default="0.001" />
+  <arg name="max_waiting_time" default="2.0" />
+  <arg name="servoj_gain" default="100." />
+  <arg name="servoj_lookahead_time" default="1." />
+  <arg name="max_joint_difference" default="0.01" />
+  <arg name="base_frame" default="$(arg prefix)base" />
+  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
   </include>
-  
+
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="prefix" default="" />
+    <arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
+    <arg name="time_interval" value="$(arg time_interval)"/>
+    <arg name="servoj_time" value="$(arg servoj_time)" />
+    <arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
+    <arg name="max_waiting_time" value="$(arg max_waiting_time)" />
+    <arg name="servoj_gain" value="$(arg servoj_gain)" />
+    <arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
+    <arg name="max_joint_difference" value="$(arg max_joint_difference)" />
+    <arg name="base_frame" value="$(arg base_frame)" />
+    <arg name="tool_frame" value="$(arg tool_frame)" />
     <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
diff --git a/launch/ur10_bringup_compatible.launch b/launch/ur10_bringup_compatible.launch
index 44387a4..45e0ebd 100644
--- a/launch/ur10_bringup_compatible.launch
+++ b/launch/ur10_bringup_compatible.launch
@@ -7,25 +7,46 @@
     ur10_bringup.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
+  <arg name="prefix" default="" />
+  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
+  <arg name="time_interval" default="0.08"/>
+  <arg name="servoj_time" default="0.08" />
+  <arg name="servoj_time_waiting" default="0.001" />
+  <arg name="max_waiting_time" default="2.0" />
+  <arg name="servoj_gain" default="100." />
+  <arg name="servoj_lookahead_time" default="1." />
+  <arg name="max_joint_difference" default="0.01" />
+  <arg name="base_frame" default="$(arg prefix)base" />
+  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
 
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur10_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
   </include>
-  
+
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
-    <arg name="servoj_time"  value="0.08" />
+    <arg name="prefix" default="" />
+    <arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
+    <arg name="time_interval" value="$(arg time_interval)"/>
+    <arg name="servoj_time" value="$(arg servoj_time)" />
+    <arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
+    <arg name="max_waiting_time" value="$(arg max_waiting_time)" />
+    <arg name="servoj_gain" value="$(arg servoj_gain)" />
+    <arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
+    <arg name="max_joint_difference" value="$(arg max_joint_difference)" />
+    <arg name="base_frame" value="$(arg base_frame)" />
+    <arg name="tool_frame" value="$(arg tool_frame)" />
     <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
diff --git a/launch/ur10_bringup_joint_limited.launch b/launch/ur10_bringup_joint_limited.launch
index 1ca2d8b..756807b 100644
--- a/launch/ur10_bringup_joint_limited.launch
+++ b/launch/ur10_bringup_joint_limited.launch
@@ -2,17 +2,27 @@
 <!--
   Universal robot ur10 launch. Wraps ur10_bringup.launch. Uses the 'limited'
   joint range [-PI, PI] on all joints.
-  
+
   Usage:
     ur10_bringup_joint_limited.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="10.0"/>
   <arg name="prefix" default="" />
+  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
+  <arg name="time_interval" default="0.008"/>
+  <arg name="servoj_time" default="0.008" />
+  <arg name="servoj_time_waiting" default="0.001" />
+  <arg name="max_waiting_time" default="2.0" />
+  <arg name="servoj_gain" default="100." />
+  <arg name="servoj_lookahead_time" default="1." />
+  <arg name="max_joint_difference" default="0.01" />
+  <arg name="base_frame" default="$(arg prefix)base" />
+  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
 
   <include file="$(find ur_modern_driver)/launch/ur10_bringup.launch">
@@ -21,6 +31,16 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
+    <arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
+    <arg name="time_interval" value="$(arg time_interval)"/>
+    <arg name="servoj_time" value="$(arg servoj_time)" />
+    <arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
+    <arg name="max_waiting_time" value="$(arg max_waiting_time)" />
+    <arg name="servoj_gain" value="$(arg servoj_gain)" />
+    <arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
+    <arg name="max_joint_difference" value="$(arg max_joint_difference)" />
+    <arg name="base_frame" value="$(arg base_frame)" />
+    <arg name="tool_frame" value="$(arg tool_frame)" />
     <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 </launch>
diff --git a/launch/ur3_bringup.launch b/launch/ur3_bringup.launch
index f4bc006..22e426b 100644
--- a/launch/ur3_bringup.launch
+++ b/launch/ur3_bringup.launch
@@ -14,6 +14,16 @@
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
+  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
+  <arg name="time_interval" default="0.008"/>
+  <arg name="servoj_time" default="0.008" />
+  <arg name="servoj_time_waiting" default="0.001" />
+  <arg name="max_waiting_time" default="2.0" />
+  <arg name="servoj_gain" default="100." />
+  <arg name="servoj_lookahead_time" default="1." />
+  <arg name="max_joint_difference" default="0.01" />
+  <arg name="base_frame" default="$(arg prefix)base" />
+  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur3_upload.launch">
@@ -26,6 +36,16 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
+    <arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
+    <arg name="time_interval" value="$(arg time_interval)"/>
+    <arg name="servoj_time" value="$(arg servoj_time)" />
+    <arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
+    <arg name="max_waiting_time" value="$(arg max_waiting_time)" />
+    <arg name="servoj_gain" value="$(arg servoj_gain)" />
+    <arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
+    <arg name="max_joint_difference" value="$(arg max_joint_difference)" />
+    <arg name="base_frame" value="$(arg base_frame)" />
+    <arg name="tool_frame" value="$(arg tool_frame)" />
     <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
diff --git a/launch/ur3_bringup_joint_limited.launch b/launch/ur3_bringup_joint_limited.launch
index 9c70c52..5f994f1 100644
--- a/launch/ur3_bringup_joint_limited.launch
+++ b/launch/ur3_bringup_joint_limited.launch
@@ -13,6 +13,16 @@
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
+  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
+  <arg name="time_interval" default="0.008"/>
+  <arg name="servoj_time" default="0.008" />
+  <arg name="servoj_time_waiting" default="0.001" />
+  <arg name="max_waiting_time" default="2.0" />
+  <arg name="servoj_gain" default="100." />
+  <arg name="servoj_lookahead_time" default="1." />
+  <arg name="max_joint_difference" default="0.01" />
+  <arg name="base_frame" default="$(arg prefix)base" />
+  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
 
   <include file="$(find ur_modern_driver)/launch/ur3_bringup.launch">
@@ -21,6 +31,16 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
+    <arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
+    <arg name="time_interval" value="$(arg time_interval)"/>
+    <arg name="servoj_time" value="$(arg servoj_time)" />
+    <arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
+    <arg name="max_waiting_time" value="$(arg max_waiting_time)" />
+    <arg name="servoj_gain" value="$(arg servoj_gain)" />
+    <arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
+    <arg name="max_joint_difference" value="$(arg max_joint_difference)" />
+    <arg name="base_frame" value="$(arg base_frame)" />
+    <arg name="tool_frame" value="$(arg tool_frame)" />
     <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 </launch>
diff --git a/launch/ur5_bringup.launch b/launch/ur5_bringup.launch
index 303d253..eafad38 100644
--- a/launch/ur5_bringup.launch
+++ b/launch/ur5_bringup.launch
@@ -7,25 +7,45 @@
     ur5_bringup.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
   <arg name="prefix" default="" />
+  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
+  <arg name="time_interval" default="0.008"/>
+  <arg name="servoj_time" default="0.008" />
+  <arg name="servoj_time_waiting" default="0.001" />
+  <arg name="max_waiting_time" default="2.0" />
+  <arg name="servoj_gain" default="100." />
+  <arg name="servoj_lookahead_time" default="1." />
+  <arg name="max_joint_difference" default="0.01" />
+  <arg name="base_frame" default="$(arg prefix)base" />
+  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
   </include>
-  
+
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
-    <arg name="prefix"  value="$(arg prefix)" />
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
+    <arg name="prefix"  value="$(arg prefix)" />
+    <arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
+    <arg name="time_interval" value="$(arg time_interval)"/>
+    <arg name="servoj_time" value="$(arg servoj_time)" />
+    <arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
+    <arg name="max_waiting_time" value="$(arg max_waiting_time)" />
+    <arg name="servoj_gain" value="$(arg servoj_gain)" />
+    <arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
+    <arg name="max_joint_difference" value="$(arg max_joint_difference)" />
+    <arg name="base_frame" value="$(arg base_frame)" />
+    <arg name="tool_frame" value="$(arg tool_frame)" />
     <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
diff --git a/launch/ur5_bringup_compatible.launch b/launch/ur5_bringup_compatible.launch
index c8383bf..ddd0b92 100644
--- a/launch/ur5_bringup_compatible.launch
+++ b/launch/ur5_bringup_compatible.launch
@@ -7,25 +7,46 @@
     ur5_bringup.launch robot_ip:=<value>
 -->
 <launch>
-  
+
   <!-- robot_ip: IP-address of the robot's socket-messaging server -->
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
+  <arg name="prefix" default="" />
+  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
+  <arg name="time_interval" default="0.08"/>
+  <arg name="servoj_time" default="0.08" />
+  <arg name="servoj_time_waiting" default="0.001" />
+  <arg name="max_waiting_time" default="2.0" />
+  <arg name="servoj_gain" default="100." />
+  <arg name="servoj_lookahead_time" default="1." />
+  <arg name="max_joint_difference" default="0.01" />
+  <arg name="base_frame" default="$(arg prefix)base" />
+  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
 
   <!-- robot model -->
   <include file="$(find ur_description)/launch/ur5_upload.launch">
     <arg name="limited" value="$(arg limited)"/>
   </include>
-  
+
   <!-- ur common -->
   <include file="$(find ur_modern_driver)/launch/ur_common.launch">
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
-    <arg name="servoj_time"  value="0.08" />
+    <arg name="prefix"  value="$(arg prefix)" />
+    <arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
+    <arg name="time_interval" value="$(arg time_interval)"/>
+    <arg name="servoj_time" value="$(arg servoj_time)" />
+    <arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
+    <arg name="max_waiting_time" value="$(arg max_waiting_time)" />
+    <arg name="servoj_gain" value="$(arg servoj_gain)" />
+    <arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
+    <arg name="max_joint_difference" value="$(arg max_joint_difference)" />
+    <arg name="base_frame" value="$(arg base_frame)" />
+    <arg name="tool_frame" value="$(arg tool_frame)" />
     <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 
diff --git a/launch/ur5_bringup_joint_limited.launch b/launch/ur5_bringup_joint_limited.launch
index 3640a2d..09a0022 100644
--- a/launch/ur5_bringup_joint_limited.launch
+++ b/launch/ur5_bringup_joint_limited.launch
@@ -13,6 +13,16 @@
   <arg name="min_payload"  default="0.0"/>
   <arg name="max_payload"  default="5.0"/>
   <arg name="prefix" default="" />
+  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
+  <arg name="time_interval" default="0.008"/>
+  <arg name="servoj_time" default="0.008" />
+  <arg name="servoj_time_waiting" default="0.001" />
+  <arg name="max_waiting_time" default="2.0" />
+  <arg name="servoj_gain" default="100." />
+  <arg name="servoj_lookahead_time" default="1." />
+  <arg name="max_joint_difference" default="0.01" />
+  <arg name="base_frame" default="$(arg prefix)base" />
+  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
   <arg name="shutdown_on_disconnect" default="true" />
 
   <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
@@ -21,6 +31,16 @@
     <arg name="min_payload"  value="$(arg min_payload)"/>
     <arg name="max_payload"  value="$(arg max_payload)"/>
     <arg name="prefix" value="$(arg prefix)" />
+    <arg name="use_lowbandwidth_trajectory_follower" value="$(arg use_lowbandwidth_trajectory_follower)"/>
+    <arg name="time_interval" value="$(arg time_interval)"/>
+    <arg name="servoj_time" value="$(arg servoj_time)" />
+    <arg name="servoj_time_waiting" default="$(arg servoj_time_waiting)" />
+    <arg name="max_waiting_time" value="$(arg max_waiting_time)" />
+    <arg name="servoj_gain" value="$(arg servoj_gain)" />
+    <arg name="servoj_lookahead_time" value="$(arg servoj_lookahead_time)" />
+    <arg name="max_joint_difference" value="$(arg max_joint_difference)" />
+    <arg name="base_frame" value="$(arg base_frame)" />
+    <arg name="tool_frame" value="$(arg tool_frame)" />
     <arg name="shutdown_on_disconnect" value="$(arg shutdown_on_disconnect)"/>
   </include>
 </launch>