diff --git a/ur_rtde_driver/launch/ur10_ros_control.launch b/ur_rtde_driver/launch/ur10_ros_control.launch
index 3283a7c..92d507e 100644
--- a/ur_rtde_driver/launch/ur10_ros_control.launch
+++ b/ur_rtde_driver/launch/ur10_ros_control.launch
@@ -6,65 +6,29 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
+  <arg name="use_tool_communication" default="false"/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml"/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
   <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
+  <!--<arg name="reverse_port" default="50001"/>-->
   <arg name="limited" default="false"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
-  <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
-  <arg name="base_frame" default="$(arg prefix)base" />
-  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
-  <arg name="shutdown_on_disconnect" default="true" />
   <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <!--<arg name="stopped_controllers" default=""/>-->
   <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
   <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
-  <!-- robot model -->
-  <include file="$(find ur_description)/launch/ur10_upload.launch">
+
+  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="urscript_file" value="$(arg urscript_file)"/>
+    <arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
   </include>
 
-
-  <!-- Load hardware interface -->
-  <node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
-    <param name="robot_ip" type="str" value="$(arg robot_ip)"/>
-    <param name="script_file" value="$(arg urscript_file)"/>
-    <param name="recipe_file" value="$(arg rtde_recipe_file)"/>
-    <param name="use_tool_communication" value="false"/>
-    <!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
-    <!--<param name="min_payload" type="double" value="$(arg min_payload)"/>-->
-    <!--<param name="max_payload" type="double" value="$(arg max_payload)"/>-->
-    <!--<param name="max_velocity" type="double" value="$(arg max_velocity)"/>-->
-    <!--<param name="use_ros_control" type="bool" value="True"/>-->
-    <!--<param name="servoj_gain" type="double" value="750" />-->
-    <!--<param name="prefix" value="$(arg prefix)" />-->
-    <!--<param name="base_frame" type="str" value="$(arg base_frame)"/>-->
-    <!--<param name="tool_frame" type="str" value="$(arg tool_frame)"/>-->
-    <!--<param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>-->
-  </node>
-
-  <!-- Load controller settings -->
-  <rosparam file="$(find ur_rtde_driver)/config/ur10_controllers.yaml" command="load"/>
-
-  <!-- spawn controller manager -->
-  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="$(arg controllers)" />
-
-  <!-- load other controller -->
-  <!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
-    <!--output="screen" args="load $(arg stopped_controllers)" />-->
-
-  <!-- Convert joint states to /tf tranforms -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
-  <node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
-    <remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>
-    <rosparam param="consistent_controllers">
-       - "joint_state_controller"
-       - "speed_scaling_state_controller"
-       - "force_torque_sensor_controller"
-    </rosparam>
-  </node>
-
 </launch>
diff --git a/ur_rtde_driver/launch/ur10e_ros_control.launch b/ur_rtde_driver/launch/ur10e_ros_control.launch
index 92bfcc6..ce13461 100644
--- a/ur_rtde_driver/launch/ur10e_ros_control.launch
+++ b/ur_rtde_driver/launch/ur10e_ros_control.launch
@@ -6,21 +6,17 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
+  <arg name="use_tool_communication" default="true"/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml"/>
+  <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch"/>
   <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
+  <!--<arg name="reverse_port" default="50001"/>-->
   <arg name="limited" default="false"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
-  <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
-  <arg name="base_frame" default="$(arg prefix)base" />
-  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
-  <arg name="shutdown_on_disconnect" default="true" />
   <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <!--<arg name="stopped_controllers" default=""/>-->
   <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
   <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
-  <arg name="use_tool_communication" default="true"/>
   <arg name="tool_voltage" default="12"/>
   <arg name="tool_parity" default="1"/>
   <arg name="tool_baud_rate" default="57600"/>
@@ -28,38 +24,23 @@
   <arg name="tool_rx_idle_chars" default="1.5"/>
   <arg name="tool_tx_idle_chars" default="3.5"/>
 
-  <!-- robot model -->
-  <include file="$(find ur_e_description)/launch/ur10e_upload.launch">
+  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="urscript_file" value="$(arg urscript_file)"/>
+    <arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
+    <arg name="tool_voltage" value="$(arg tool_voltage)"/>
+    <arg name="tool_parity" value="$(arg tool_parity)"/>
+    <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
+    <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
+    <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
+    <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
   </include>
 
-
-  <!-- Load hardware interface -->
-  <node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
-    <param name="robot_ip" type="str" value="$(arg robot_ip)"/>
-    <param name="script_file" value="$(arg urscript_file)"/>
-    <param name="recipe_file" value="$(arg rtde_recipe_file)"/>
-    <param name="use_tool_communication" value="$(arg use_tool_communication)"/>
-    <param name="tool_voltage" value="$(arg tool_voltage)"/>
-    <param name="tool_parity" value="$(arg tool_parity)"/>
-    <param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
-    <param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
-    <param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
-    <param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
-  </node>
-
-  <!-- Load controller settings -->
-  <rosparam file="$(find ur_rtde_driver)/config/ur10e_controllers.yaml" command="load"/>
-
-  <!-- spawn controller manager -->
-  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="$(arg controllers)" />
-
-  <!-- load other controller -->
-  <!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
-    <!--output="screen" args="load $(arg stopped_controllers)" />-->
-
-  <!-- Convert joint states to /tf tranforms -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
 </launch>
diff --git a/ur_rtde_driver/launch/ur3_ros_control.launch b/ur_rtde_driver/launch/ur3_ros_control.launch
index 00753b3..bd22029 100644
--- a/ur_rtde_driver/launch/ur3_ros_control.launch
+++ b/ur_rtde_driver/launch/ur3_ros_control.launch
@@ -6,51 +6,29 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
+  <arg name="use_tool_communication" default="false"/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3_controllers.yaml"/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch"/>
   <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
+  <!--<arg name="reverse_port" default="50001"/>-->
   <arg name="limited" default="false"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
-  <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
-  <arg name="base_frame" default="$(arg prefix)base" />
-  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
-  <arg name="shutdown_on_disconnect" default="true" />
-  <arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
-  <arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
-  <!-- robot model -->
-  <include file="$(find ur_description)/launch/ur3_upload.launch">
+  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <!--<arg name="stopped_controllers" default=""/>-->
+  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
+  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
+
+  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="urscript_file" value="$(arg urscript_file)"/>
+    <arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
   </include>
 
-
-  <!-- Load hardware interface -->
-  <node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
-    <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
-    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
-    <param name="min_payload" type="double" value="$(arg min_payload)"/>
-    <param name="max_payload" type="double" value="$(arg max_payload)"/>
-    <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
-    <param name="use_ros_control" type="bool" value="True"/>
-    <param name="servoj_gain" type="double" value="750" />
-    <param name="prefix" value="$(arg prefix)" />
-    <param name="base_frame" type="str" value="$(arg base_frame)"/>
-    <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
-    <param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
-  </node>
-
-  <!-- Load controller settings -->
-  <rosparam file="$(find ur_rtde_driver)/config/ur3_controllers.yaml" command="load"/>
-
-  <!-- spawn controller manager -->
-  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="$(arg controllers)" />
-
-  <!-- load other controller -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load $(arg stopped_controllers)" />
-
-  <!-- Convert joint states to /tf tranforms -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
-</launch>
\ No newline at end of file
+</launch>
diff --git a/ur_rtde_driver/launch/ur3e_ros_control.launch b/ur_rtde_driver/launch/ur3e_ros_control.launch
new file mode 100644
index 0000000..c29bd17
--- /dev/null
+++ b/ur_rtde_driver/launch/ur3e_ros_control.launch
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- GDB functionality -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="use_tool_communication" default="true"/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml"/>
+  <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch"/>
+  <arg name="robot_ip"/>
+  <!--<arg name="reverse_port" default="50001"/>-->
+  <arg name="limited" default="false"/>
+  <arg name="prefix" default="" />
+  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <!--<arg name="stopped_controllers" default=""/>-->
+  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
+  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
+  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_parity" default="1"/>
+  <arg name="tool_baud_rate" default="57600"/>
+  <arg name="tool_stop_bits" default="1"/>
+  <arg name="tool_rx_idle_chars" default="1.5"/>
+  <arg name="tool_tx_idle_chars" default="3.5"/>
+
+  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="urscript_file" value="$(arg urscript_file)"/>
+    <arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
+    <arg name="tool_voltage" value="$(arg tool_voltage)"/>
+    <arg name="tool_parity" value="$(arg tool_parity)"/>
+    <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
+    <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
+    <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
+    <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
+  </include>
+
+</launch>
diff --git a/ur_rtde_driver/launch/ur5_ros_control.launch b/ur_rtde_driver/launch/ur5_ros_control.launch
index 6601d9e..38f1e62 100644
--- a/ur_rtde_driver/launch/ur5_ros_control.launch
+++ b/ur_rtde_driver/launch/ur5_ros_control.launch
@@ -6,51 +6,29 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
+  <arg name="use_tool_communication" default="false"/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5_controllers.yaml"/>
+  <arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch"/>
   <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
+  <!--<arg name="reverse_port" default="50001"/>-->
   <arg name="limited" default="false"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="3.0"/>
   <arg name="prefix" default="" />
-  <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
-  <arg name="base_frame" default="$(arg prefix)base" />
-  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
-  <arg name="shutdown_on_disconnect" default="true" />
-  <arg name="controllers" default="joint_state_controller force_torque_sensor_controller vel_based_pos_traj_controller"/>
-  <arg name="stopped_controllers" default="pos_based_pos_traj_controller joint_group_vel_controller"/>
-  <!-- robot model -->
-  <include file="$(find ur_description)/launch/ur5_upload.launch">
+  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <!--<arg name="stopped_controllers" default=""/>-->
+  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
+  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
+
+  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="urscript_file" value="$(arg urscript_file)"/>
+    <arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
   </include>
 
-
-  <!-- Load hardware interface -->
-  <node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_driver" output="log" launch-prefix="$(arg launch_prefix)">
-    <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
-    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
-    <param name="min_payload" type="double" value="$(arg min_payload)"/>
-    <param name="max_payload" type="double" value="$(arg max_payload)"/>
-    <param name="max_velocity" type="double" value="$(arg max_velocity)"/>
-    <param name="use_ros_control" type="bool" value="True"/>
-    <param name="servoj_gain" type="double" value="750" />
-    <param name="prefix" value="$(arg prefix)" />
-    <param name="base_frame" type="str" value="$(arg base_frame)"/>
-    <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
-    <param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
-  </node>
-
-  <!-- Load controller settings -->
-  <rosparam file="$(find ur_rtde_driver)/config/ur5_controllers.yaml" command="load"/>
-
-  <!-- spawn controller manager -->
-  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="$(arg controllers)" />
-
-  <!-- load other controller -->
-  <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-    output="screen" args="load $(arg stopped_controllers)" />
-
-  <!-- Convert joint states to /tf tranforms -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
 </launch>
diff --git a/ur_rtde_driver/launch/ur5e_ros_control.launch b/ur_rtde_driver/launch/ur5e_ros_control.launch
new file mode 100644
index 0000000..1aab976
--- /dev/null
+++ b/ur_rtde_driver/launch/ur5e_ros_control.launch
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- GDB functionality -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="use_tool_communication" default="true"/>
+  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml"/>
+  <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch"/>
+  <arg name="robot_ip"/>
+  <!--<arg name="reverse_port" default="50001"/>-->
+  <arg name="limited" default="false"/>
+  <arg name="prefix" default="" />
+  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <!--<arg name="stopped_controllers" default=""/>-->
+  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
+  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
+  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_parity" default="1"/>
+  <arg name="tool_baud_rate" default="57600"/>
+  <arg name="tool_stop_bits" default="1"/>
+  <arg name="tool_rx_idle_chars" default="1.5"/>
+  <arg name="tool_tx_idle_chars" default="3.5"/>
+
+  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <arg name="controller_config_file" value="$(arg controller_config_file)"/>
+    <arg name="robot_description_file" value="$(arg robot_description_file)"/>
+    <arg name="robot_ip" value="$(arg robot_ip)"/>
+    <arg name="limited" value="$(arg limited)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
+    <arg name="urscript_file" value="$(arg urscript_file)"/>
+    <arg name="rtde_recipe_file" value="$(arg rtde_recipe_file)"/>
+    <arg name="tool_voltage" value="$(arg tool_voltage)"/>
+    <arg name="tool_parity" value="$(arg tool_parity)"/>
+    <arg name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
+    <arg name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
+    <arg name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
+    <arg name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
+  </include>
+
+</launch>
diff --git a/ur_rtde_driver/launch/ur_common.launch b/ur_rtde_driver/launch/ur_common.launch
index bc298cd..e42c395 100644
--- a/ur_rtde_driver/launch/ur_common.launch
+++ b/ur_rtde_driver/launch/ur_common.launch
@@ -1,60 +1,71 @@
 <?xml version="1.0"?>
-<!--
-  Universal robot common bringup.  Starts ur driver node and robot state
-  publisher (translates joint positions to propper tfs).
-
-  Usage:
-    ur_common.launch robot_ip:=<value>
--->
 <launch>
-  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip" />
-  <arg name="reverse_port" default="50001"/>
-  <arg name="min_payload" />
-  <arg name="max_payload" />
+
+  <!-- GDB functionality -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="use_tool_communication"/>
+  <arg name="controller_config_file"/>
+  <arg name="robot_description_file"/>
+  <arg name="robot_ip"/>
+  <!--<arg name="reverse_port" default="50001"/>-->
+  <arg name="limited" default="false"/>
   <arg name="prefix" default="" />
-  <arg name="use_ros_control" default="false"/>
-  <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" />
+  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <!--<arg name="stopped_controllers" default=""/>-->
+  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
+  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
+  <arg name="tool_voltage" default="12"/>
+  <arg name="tool_parity" default="1"/>
+  <arg name="tool_baud_rate" default="57600"/>
+  <arg name="tool_stop_bits" default="1"/>
+  <arg name="tool_rx_idle_chars" default="1.5"/>
+  <arg name="tool_tx_idle_chars" default="3.5"/>
 
-  <!-- require_activation defines when the service /ur_driver/robot_enable needs to be called. -->
-  <arg name="require_activation" default="Never" /> <!-- Never, Always, OnStartup -->
+  <!-- robot model -->
+  <include file="$(arg robot_description_file)">
+    <arg name="limited" value="$(arg limited)"/>
+  </include>
 
-  <!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
-  <arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
 
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
-  <!-- driver -->
-  <node name="ur_driver" pkg="ur_rtde_driver" type="ur_driver" output="screen">
-  <!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
-    <param name="prefix" type="str" value="$(arg prefix)" />
-    <param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
-    <param name="reverse_port" type="int" value="$(arg reverse_port)" />
-    <param name="use_ros_control" type="bool" value="$(arg use_ros_control)"/>
-    <param name="use_lowbandwidth_trajectory_follower" type="bool" value="$(arg use_lowbandwidth_trajectory_follower)"/>
-    <param name="min_payload" type="double" value="$(arg min_payload)" />
-    <param name="max_payload" type="double" value="$(arg max_payload)" />
-    <param name="max_velocity" type="double" value="$(arg max_velocity)" />
-    <param name="time_interval" type="double" value="$(arg time_interval)" />
-    <param name="servoj_time" type="double" value="$(arg servoj_time)" />
-    <param name="servoj_time_waiting" type="double" value="$(arg servoj_time_waiting)" />
-    <param name="max_waiting_time" type="double" value="$(arg max_waiting_time)" />
-    <param name="servoj_gain" type="double" value="$(arg servoj_gain)" />
-    <param name="servoj_lookahead_time" type="double" value="$(arg servoj_lookahead_time)" />
-    <param name="max_joint_difference" type="double" value="$(arg max_joint_difference)" />
-    <param name="base_frame" type="str" value="$(arg base_frame)"/>
-    <param name="tool_frame" type="str" value="$(arg tool_frame)"/>
-    <param name="require_activation" type="str" value="$(arg require_activation)" />
-    <param name="shutdown_on_disconnect" type="bool" value="$(arg shutdown_on_disconnect)"/>
+  <!-- Load hardware interface -->
+  <node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
+    <param name="robot_ip" type="str" value="$(arg robot_ip)"/>
+    <param name="script_file" value="$(arg urscript_file)"/>
+    <param name="recipe_file" value="$(arg rtde_recipe_file)"/>
+    <param name="use_tool_communication" value="$(arg use_tool_communication)"/>
+    <!--<param name="reverse_port" type="int" value="$(arg reverse_port)" />-->
+    <param name="tool_voltage" value="$(arg tool_voltage)"/>
+    <param name="tool_parity" value="$(arg tool_parity)"/>
+    <param name="tool_baud_rate" value="$(arg tool_baud_rate)"/>
+    <param name="tool_stop_bits" value="$(arg tool_stop_bits)"/>
+    <param name="tool_rx_idle_chars" value="$(arg tool_rx_idle_chars)"/>
+    <param name="tool_tx_idle_chars" value="$(arg tool_tx_idle_chars)"/>
   </node>
+
+  <!-- Load controller settings -->
+  <rosparam file="$(arg controller_config_file)" command="load"/>
+
+  <!-- spawn controller manager -->
+  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="$(arg controllers)" />
+
+  <!-- load other controller -->
+  <!--<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"-->
+    <!--output="screen" args="load $(arg stopped_controllers)" />-->
+
+  <!-- Convert joint states to /tf tranforms -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <node name="controller_stopper" pkg="controller_stopper" type="node" respawn="false" output="screen">
+    <remap from="robot_running" to="ur_hardware_interface/robot_program_running"/>
+    <rosparam param="consistent_controllers">
+       - "joint_state_controller"
+       - "speed_scaling_state_controller"
+       - "force_torque_sensor_controller"
+    </rosparam>
+  </node>
+
 </launch>