diff --git a/config/ur10_controllers.yaml b/config/ur10_controllers.yaml
index 54c62be..dd679bc 100644
--- a/config/ur10_controllers.yaml
+++ b/config/ur10_controllers.yaml
@@ -24,7 +24,7 @@ force_torque_sensor_controller:
 
 # Joint Trajectory Controller -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-position_trajectory_controller:
+velocity_based_position_trajectory_controller:
    type: velocity_controllers/JointTrajectoryController
    joints:
      - shoulder_pan_joint
diff --git a/config/ur5_controllers.yaml b/config/ur5_controllers.yaml
index 54c62be..dd679bc 100644
--- a/config/ur5_controllers.yaml
+++ b/config/ur5_controllers.yaml
@@ -24,7 +24,7 @@ force_torque_sensor_controller:
 
 # Joint Trajectory Controller -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-position_trajectory_controller:
+velocity_based_position_trajectory_controller:
    type: velocity_controllers/JointTrajectoryController
    joints:
      - shoulder_pan_joint
diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch
index cba1407..545fccc 100644
--- a/launch/ur10_ros_control.launch
+++ b/launch/ur10_ros_control.launch
@@ -31,7 +31,7 @@
 
     <!-- Load controller manager -->
     <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-	  output="screen" args="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" /> 
+	  output="screen" args="spawn joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" /> 
 
     <!-- Convert joint states to /tf tranforms -->
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
diff --git a/launch/ur5_ros_control.launch b/launch/ur5_ros_control.launch
index 0069cd0..c08d6c0 100644
--- a/launch/ur5_ros_control.launch
+++ b/launch/ur5_ros_control.launch
@@ -31,7 +31,7 @@
 
     <!-- Load controller manager -->
     <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-	  output="screen" args="spawn joint_state_controller force_torque_sensor_controller position_trajectory_controller" /> 
+	  output="screen" args="spawn joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" /> 
 
     <!-- Convert joint states to /tf tranforms -->
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>