diff --git a/ur_rtde_driver/launch/ur10_bringup.launch b/ur_rtde_driver/launch/ur10_bringup.launch
index 100db45..b60464c 100644
--- a/ur_rtde_driver/launch/ur10_bringup.launch
+++ b/ur_rtde_driver/launch/ur10_bringup.launch
@@ -1,54 +1,28 @@
 <?xml version="1.0"?>
-<!--
-  Universal robot ur10 launch.  Loads ur10 robot description (see ur_common.launch
-  for more info)
-
-  Usage:
-    ur10_bringup.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="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>
+  <!-- GDB functionality -->
+  <arg name="debug" 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="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
+  <arg name="robot_ip"/>
+  <arg name="limited" default="false"/>
+  <arg name="tf_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=""/>
 
-  <!-- ur common -->
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="false"/>
+    <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="$(arg robot_ip)"/>
-    <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <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="$(arg shutdown_on_disconnect)"/>
+    <arg name="kinematics_config" value="$(arg kinematics_config)"/>
+    <arg name="limited" value="$(arg limited)"/>
+    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
   </include>
 
 </launch>
diff --git a/ur_rtde_driver/launch/ur10_bringup_compatible.launch b/ur_rtde_driver/launch/ur10_bringup_compatible.launch
deleted file mode 100644
index 99e77b9..0000000
--- a/ur_rtde_driver/launch/ur10_bringup_compatible.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  Universal robot ur10 launch.  Loads ur10 robot description (see ur_common.launch
-  for more info)
-
-  Usage:
-    ur10_bringup.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="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="$(find ur_rtde_driver)/launch/ur_common.launch">
-    <arg name="robot_ip" value="$(arg robot_ip)"/>
-    <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <arg name="min_payload"  value="$(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>
-
-</launch>
diff --git a/ur_rtde_driver/launch/ur10_bringup_joint_limited.launch b/ur_rtde_driver/launch/ur10_bringup_joint_limited.launch
deleted file mode 100644
index 34edcfe..0000000
--- a/ur_rtde_driver/launch/ur10_bringup_joint_limited.launch
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  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="reverse_port" default="50001"/>
-  <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="$(find ur_rtde_driver)/launch/ur10_bringup.launch">
-    <arg name="robot_ip" value="$(arg robot_ip)"/>
-    <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <arg name="limited"  value="true"/>
-    <arg name="min_payload"  value="$(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="$(arg shutdown_on_disconnect)"/>
-  </include>
-</launch>
diff --git a/ur_rtde_driver/launch/ur10_ros_control.launch b/ur_rtde_driver/launch/ur10_ros_control.launch
deleted file mode 100644
index 3b7a77f..0000000
--- a/ur_rtde_driver/launch/ur10_ros_control.launch
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- GDB functionality -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
-
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml"/>
-  <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch"/>
-  <arg name="robot_ip"/>
-  <!--<arg name="reverse_port" default="50001"/>-->
-  <arg name="limited" default="false"/>
-  <arg name="prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <!--<arg name="stopped_controllers" default=""/>-->
-  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
-  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
-
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="use_tool_communication" value="false"/>
-    <arg name="controller_config_file" value="$(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>
-
-</launch>
diff --git a/ur_rtde_driver/launch/ur10e_ros_control.launch b/ur_rtde_driver/launch/ur10e_bringup.launch
similarity index 100%
rename from ur_rtde_driver/launch/ur10e_ros_control.launch
rename to ur_rtde_driver/launch/ur10e_bringup.launch
diff --git a/ur_rtde_driver/launch/ur3_bringup.launch b/ur_rtde_driver/launch/ur3_bringup.launch
index 3366218..ea0ea84 100644
--- a/ur_rtde_driver/launch/ur3_bringup.launch
+++ b/ur_rtde_driver/launch/ur3_bringup.launch
@@ -1,54 +1,28 @@
 <?xml version="1.0"?>
-<!--
-  Universal robot ur3 launch.  Loads ur3 robot description (see ur_common.launch
-  for more info)
-
-  Usage:
-    ur3_bringup.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="limited" default="false"/>
-  <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="$(find ur_description)/launch/ur3_upload.launch">
-    <arg name="limited" value="$(arg limited)"/>
-  </include>
+  <!-- GDB functionality -->
+  <arg name="debug" 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="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml"/>
+  <arg name="robot_ip"/>
+  <arg name="limited" default="false"/>
+  <arg name="tf_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=""/>
 
-  <!-- ur common -->
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="false"/>
+    <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="$(arg robot_ip)"/>
-    <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <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)"/>
+    <arg name="kinematics_config" value="$(arg kinematics_config)"/>
+    <arg name="limited" value="$(arg limited)"/>
+    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
   </include>
 
 </launch>
diff --git a/ur_rtde_driver/launch/ur3_bringup_joint_limited.launch b/ur_rtde_driver/launch/ur3_bringup_joint_limited.launch
deleted file mode 100644
index 8179fbf..0000000
--- a/ur_rtde_driver/launch/ur3_bringup_joint_limited.launch
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  Universal robot ur3 launch. Wraps ur3_bringup.launch. Uses the 'limited'
-  joint range [-PI, PI] on all joints.
-
-  Usage:
-    ur3_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="reverse_port" default="50001"/>
-  <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="$(find ur_rtde_driver)/launch/ur3_bringup.launch">
-    <arg name="robot_ip" value="$(arg robot_ip)"/>
-    <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <arg name="limited"  value="true"/>
-    <arg name="min_payload"  value="$(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="$(arg shutdown_on_disconnect)"/>
-  </include>
-</launch>
diff --git a/ur_rtde_driver/launch/ur3_ros_control.launch b/ur_rtde_driver/launch/ur3_ros_control.launch
deleted file mode 100644
index 35c0dd6..0000000
--- a/ur_rtde_driver/launch/ur3_ros_control.launch
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- GDB functionality -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
-
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3_controllers.yaml"/>
-  <arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch"/>
-  <arg name="robot_ip"/>
-  <!--<arg name="reverse_port" default="50001"/>-->
-  <arg name="limited" default="false"/>
-  <arg name="prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <!--<arg name="stopped_controllers" default=""/>-->
-  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
-  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
-
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="use_tool_communication" value="false"/>
-    <arg name="controller_config_file" value="$(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>
-
-</launch>
diff --git a/ur_rtde_driver/launch/ur3e_ros_control.launch b/ur_rtde_driver/launch/ur3e_bringup.launch
similarity index 74%
rename from ur_rtde_driver/launch/ur3e_ros_control.launch
rename to ur_rtde_driver/launch/ur3e_bringup.launch
index 5f535b4..aef3632 100644
--- a/ur_rtde_driver/launch/ur3e_ros_control.launch
+++ b/ur_rtde_driver/launch/ur3e_bringup.launch
@@ -3,20 +3,16 @@
 
   <!-- 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="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml"/>
   <arg name="robot_ip"/>
-  <!--<arg name="reverse_port" default="50001"/>-->
   <arg name="limited" default="false"/>
-  <arg name="prefix" default="" />
+  <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <!--<arg name="stopped_controllers" default=""/>-->
-  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
-  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
+  <arg name="stopped_controllers" default=""/>
   <arg name="tool_voltage" default="12"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
@@ -31,12 +27,11 @@
     <arg name="use_tool_communication" value="$(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="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited" value="$(arg limited)"/>
-    <arg name="prefix" value="$(arg prefix)"/>
+    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(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)"/>
diff --git a/ur_rtde_driver/launch/ur5_bringup.launch b/ur_rtde_driver/launch/ur5_bringup.launch
index cef6b29..a28b4ee 100644
--- a/ur_rtde_driver/launch/ur5_bringup.launch
+++ b/ur_rtde_driver/launch/ur5_bringup.launch
@@ -1,54 +1,28 @@
 <?xml version="1.0"?>
-<!--
-  Universal robot ur5 launch.  Loads ur5 robot description (see ur_common.launch
-  for more info)
-
-  Usage:
-    ur5_bringup.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="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>
+  <!-- GDB functionality -->
+  <arg name="debug" 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="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml"/>
+  <arg name="robot_ip"/>
+  <arg name="limited" default="false"/>
+  <arg name="tf_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=""/>
 
-  <!-- ur common -->
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="use_tool_communication" value="false"/>
+    <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="$(arg robot_ip)"/>
-    <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <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)"/>
+    <arg name="kinematics_config" value="$(arg kinematics_config)"/>
+    <arg name="limited" value="$(arg limited)"/>
+    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
+    <arg name="controllers" value="$(arg controllers)"/>
   </include>
 
 </launch>
diff --git a/ur_rtde_driver/launch/ur5_bringup_compatible.launch b/ur_rtde_driver/launch/ur5_bringup_compatible.launch
deleted file mode 100644
index bf0f67e..0000000
--- a/ur_rtde_driver/launch/ur5_bringup_compatible.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  Universal robot ur5 launch.  Loads ur5 robot description (see ur_common.launch
-  for more info)
-
-  Usage:
-    ur5_bringup.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="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="$(find ur_rtde_driver)/launch/ur_common.launch">
-    <arg name="robot_ip" value="$(arg robot_ip)"/>
-    <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <arg name="min_payload"  value="$(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="$(arg shutdown_on_disconnect)"/>
-  </include>
-
-</launch>
diff --git a/ur_rtde_driver/launch/ur5_bringup_joint_limited.launch b/ur_rtde_driver/launch/ur5_bringup_joint_limited.launch
deleted file mode 100644
index 60a93f8..0000000
--- a/ur_rtde_driver/launch/ur5_bringup_joint_limited.launch
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  Universal robot ur5 launch. Wraps ur5_bringup.launch. Uses the 'limited'
-  joint range [-PI, PI] on all joints.
-
-  Usage:
-    ur5_bringup_joint_limited.launch robot_ip:=<value>
--->
-<launch>
-
-  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
-  <arg name="robot_ip"/>
-  <arg name="reverse_port" default="50001"/>
-  <arg name="min_payload"  default="0.0"/>
-  <arg name="max_payload"  default="5.0"/>
-  <arg name="prefix" default="" />
-  <arg name="use_lowbandwidth_trajectory_follower" default="false"/>
-  <arg name="time_interval" default="0.008"/>
-  <arg name="servoj_time" default="0.008" />
-  <arg name="servoj_time_waiting" default="0.001" />
-  <arg name="max_waiting_time" default="2.0" />
-  <arg name="servoj_gain" default="100." />
-  <arg name="servoj_lookahead_time" default="1." />
-  <arg name="max_joint_difference" default="0.01" />
-  <arg name="base_frame" default="$(arg prefix)base" />
-  <arg name="tool_frame" default="$(arg prefix)tool0_controller" />
-  <arg name="shutdown_on_disconnect" default="true" />
-
-  <include file="$(find ur_rtde_driver)/launch/ur5_bringup.launch">
-    <arg name="robot_ip" value="$(arg robot_ip)"/>
-    <arg name="reverse_port" value="$(arg reverse_port)"/>
-    <arg name="limited"  value="true"/>
-    <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/ur_rtde_driver/launch/ur5_ros_control.launch b/ur_rtde_driver/launch/ur5_ros_control.launch
deleted file mode 100644
index 8b64607..0000000
--- a/ur_rtde_driver/launch/ur5_ros_control.launch
+++ /dev/null
@@ -1,33 +0,0 @@
-<?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="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="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"/>
-
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="use_tool_communication" value="false"/>
-    <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>
-
-</launch>
diff --git a/ur_rtde_driver/launch/ur5e_ros_control.launch b/ur_rtde_driver/launch/ur5e_bringup.launch
similarity index 74%
rename from ur_rtde_driver/launch/ur5e_ros_control.launch
rename to ur_rtde_driver/launch/ur5e_bringup.launch
index edb8451..783f916 100644
--- a/ur_rtde_driver/launch/ur5e_ros_control.launch
+++ b/ur_rtde_driver/launch/ur5e_bringup.launch
@@ -3,20 +3,16 @@
 
   <!-- 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="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
   <arg name="robot_ip"/>
-  <!--<arg name="reverse_port" default="50001"/>-->
   <arg name="limited" default="false"/>
-  <arg name="prefix" default="" />
+  <arg name="tf_prefix" default="" />
   <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <!--<arg name="stopped_controllers" default=""/>-->
-  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
-  <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
+  <arg name="stopped_controllers" default=""/>
   <arg name="tool_voltage" default="12"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
@@ -31,12 +27,11 @@
     <arg name="use_tool_communication" value="$(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="kinematics_config" value="$(arg kinematics_config)"/>
     <arg name="robot_ip" value="$(arg robot_ip)"/>
     <arg name="limited" value="$(arg limited)"/>
-    <arg name="prefix" value="$(arg prefix)"/>
+    <arg name="tf_prefix" value="$(arg tf_prefix)"/>
     <arg name="controllers" value="$(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)"/>