diff --git a/README.md b/README.md
index fff5871..8b355ea 100644
--- a/README.md
+++ b/README.md
@@ -52,13 +52,16 @@ If you want to test it in your current setup, just use the modified launch files
 ---
 If you would like to use the ros\_control-based approach, use the launch files urXX\_ros\_control.launch, where XX is '5' or '10' depending on your robot.
 
-The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time.
-You can switch controller by calling the appropriate service:
+**Note:** If you are using the ros\_control-based approach you will need 2 packages that can be found in the ur\_driver package. If you do not have the ur\_driver package in your workspace simply copy these packages into your workspace /src folder:
+ * urXX_moveit_config
+ * ur_description
+
+The driver currently supports two position trajectory controllers; a position based and a velocity based. They are both loaded via the launch file, but only one of them can be running at the same time. By default the velocity based controller is started. You can switch controller by calling the appropriate service:
 ```
 rosservice call /universal_robot/controller_manager/switch_controller "start_controllers:
-- 'velocity_based_position_trajectory_controller'
+- 'vel_based_pos_traj_controller'
 stop_controllers:
-- 'position_based_position_trajectory_controller'
+- 'pos_based_pos_traj_controller'
 strictness: 1"
 ```
 Be sure to stop the currently running controller **either before or in the same call** as you start a new one, otherwise it will fail.
@@ -70,7 +73,7 @@ The position based controller *should* stay closer to the commanded path, while
 To use ros_control together with MoveIt, be sure to add the desired controller to the ```controllers.yaml``` in the urXX_moveit_config/config folder. Add the following 
 ```
 controller_list:
- - name: vel_based_pos_traj_controller #or pos_based_pos_traj_controller
+ - name: /vel_based_pos_traj_controller #or /pos_based_pos_traj_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
diff --git a/config/ur3_controllers.yaml b/config/ur3_controllers.yaml
index e0187e9..45b34f4 100644
--- a/config/ur3_controllers.yaml
+++ b/config/ur3_controllers.yaml
@@ -26,7 +26,7 @@ force_torque_sensor_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-position_based_position_trajectory_controller:
+pos_based_pos_traj_controller:
    type: position_controllers/JointTrajectoryController
    joints:
      - shoulder_pan_joint
@@ -54,7 +54,7 @@ position_based_position_trajectory_controller:
 
 # Joint Trajectory Controller - velocity based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-velocity_based_position_trajectory_controller:
+vel_based_pos_traj_controller:
    type: velocity_controllers/JointTrajectoryController
    joints:
      - shoulder_pan_joint