diff --git a/launch/ur3_ros_control.launch b/launch/ur3_ros_control.launch
index 5b782aa..6e88e9f 100644
--- a/launch/ur3_ros_control.launch
+++ b/launch/ur3_ros_control.launch
@@ -38,11 +38,11 @@
 
   <!-- spawn controller manager -->
   <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
+    output="screen" args="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller" />
 
   <!-- load other controller -->
   <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load position_based_position_trajectory_controller" />
+    output="screen" args="load pos_based_pos_traj_controller" />
 
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>