diff --git a/fake_joint_launch/config/tra1_controllers.yaml b/fake_joint_launch/config/tra1_controllers.yaml
new file mode 100644
index 0000000..0865e7d
--- /dev/null
+++ b/fake_joint_launch/config/tra1_controllers.yaml
@@ -0,0 +1,13 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50  
+  
+position_trajectory_controller:
+  type: "position_controllers/JointTrajectoryController"
+  joints:
+    - joint1
+    - joint2
+    - joint3
+    - joint4
+    - joint5
+    - joint6
diff --git a/fake_joint_launch/launch/fake_joint_driver_launch.rviz b/fake_joint_launch/launch/fake_joint_launch.rviz
similarity index 92%
rename from fake_joint_launch/launch/fake_joint_driver_launch.rviz
rename to fake_joint_launch/launch/fake_joint_launch.rviz
index 31ec83f..3179a0d 100644
--- a/fake_joint_launch/launch/fake_joint_driver_launch.rviz
+++ b/fake_joint_launch/launch/fake_joint_launch.rviz
@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
       Splitter Ratio: 0.5
-    Tree Height: 735
+    Tree Height: 767
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,10 +27,6 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
-  - Class: jog_controller/JogJointPanel
-    Name: JogJointPanel
-  - Class: jog_controller/JogFramePanel
-    Name: JogFramePanel
 Visualization Manager:
   Class: ""
   Displays:
@@ -171,11 +167,7 @@ Window Geometry:
   Height: 1056
   Hide Left Dock: false
   Hide Right Dock: false
-  JogFramePanel:
-    collapsed: false
-  JogJointPanel:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000017100000391fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000002b00000391000002390100001ffa000000000100000003fb000000100044006900730070006c0061007900730100000000ffffffff0000017100fffffffb0000001a004a006f0067004a006f0069006e007400500061006e0065006c0100000000ffffffff000000c800fffffffb0000001a004a006f0067004600720061006d006500500061006e0065006c0100000000ffffffff000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000391fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002b00000391000000b200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f00000138fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000035200fffffffb0000000800540069006d00650100000000000004500000000000000000000004b30000039100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000017100000391fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000002b00000391000000da00fffffffa000000000100000003fb000000100044006900730070006c0061007900730100000000ffffffff0000017100fffffffb0000001a004a006f0067004a006f0069006e007400500061006e0065006c0100000000ffffffff0000000000000000fb0000001a004a006f0067004600720061006d006500500061006e0065006c0100000000ffffffff0000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000391fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002b00000391000000b200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f00000138fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000035200fffffffb0000000800540069006d00650100000000000004500000000000000000000004b30000039100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/fake_joint_launch/launch/tra1.launch b/fake_joint_launch/launch/tra1.launch
new file mode 100644
index 0000000..e2f32f5
--- /dev/null
+++ b/fake_joint_launch/launch/tra1.launch
@@ -0,0 +1,37 @@
+<launch>
+  <arg name="use_rviz" default="true"/>
+  <arg name="use_rqt" default="false"/>
+  
+  <!-- load robot description  -->
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find tra1_description)/urdf/tra1.xacro'" />
+
+  <!-- fake_joint_driver_node -->
+  <node name="fake_joint_driver" pkg="fake_joint_driver" type="fake_joint_driver_node"/>
+  
+  <!-- robot_state_publisher -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <rosparam file="$(find fake_joint_launch)/config/tra1_controllers.yaml" />
+
+  <!-- Load and start joint trajecotory controller -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" args="joint_state_controller position_trajectory_controller"/>
+
+  <!-- Launch rviz -->
+  <node if="$(arg use_rviz)"
+	name="rviz" pkg="rviz" type="rviz"
+	args="-d $(find fake_joint_launch)/launch/fake_joint_launch.rviz"/>
+
+  <!-- Launch rqt joint_trajectory_controller -->
+  <node if="$(arg use_rqt)"
+	name="rqt" pkg="rqt_gui" type="rqt_gui"
+	args="-s rqt_joint_trajectory_controller.joint_trajectory_controller.JointTrajectoryController"/>
+
+  <!-- Run tests -->
+  <test test-name="hztest" pkg="rostest" type="hztest">
+    <param name="topic" value="joint_states"/>
+    <param name="hz" value="50"/>
+    <param name="hzerror" value="10"/>
+    <param name="test_duration" value="5.0"/>  
+  </test>
+
+</launch>
diff --git a/fake_joint_launch/launch/ur3.launch b/fake_joint_launch/launch/ur3.launch
index 7bfb567..ea89e3c 100644
--- a/fake_joint_launch/launch/ur3.launch
+++ b/fake_joint_launch/launch/ur3.launch
@@ -11,7 +11,7 @@
   <!-- robot_state_publisher -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
-  <rosparam file="$(find fake_joint_driver_launch)/config/ur_controllers.yaml" />
+  <rosparam file="$(find fake_joint_launch)/config/ur_controllers.yaml" />
 
   <!-- Load and start joint trajecotory controller -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" args="joint_state_controller arm_controller"/>
@@ -21,7 +21,7 @@
   <!-- Launch rviz -->
   <node if="$(arg use_rviz)"
 	name="rviz" pkg="rviz" type="rviz"
-	args="-d $(find fake_joint_driver_launch)/launch/fake_joint_driver_launch.rviz"/>
+	args="-d $(find fake_joint_launch)/launch/fake_joint_launch.rviz"/>
 
   <!-- Launch rqt joint_trajectory_controller -->
   <node if="$(arg use_rqt)"
@@ -35,5 +35,5 @@
     <param name="hzerror" value="10"/>
     <param name="test_duration" value="5.0"/>  
   </test>
-  <test test-name="test_fake_joint_driver" pkg="fake_joint_driver_launch" type="test_fake_joint_driver.py"/>
+
 </launch>
diff --git a/fake_joint_launch/launch/ur5.launch b/fake_joint_launch/launch/ur5.launch
index f7bcc81..3c3b784 100644
--- a/fake_joint_launch/launch/ur5.launch
+++ b/fake_joint_launch/launch/ur5.launch
@@ -12,14 +12,14 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
   <!-- Load joint trajecotory controller -->
-  <rosparam file="$(find fake_joint_driver_launch)/config/ur_controllers.yaml" />
+  <rosparam file="$(find fake_joint_launch)/config/ur_controllers.yaml" />
   <node name="controller_spawner" pkg="controller_manager" type="spawner"
 	respawn="false" args="joint_state_controller arm_controller"/>
 
   <!-- Launch rviz -->
   <node if="$(arg use_rviz)"
 	name="rviz" pkg="rviz" type="rviz"
-	args="-d $(find fake_joint_driver_launch)/launch/fake_joint_driver_launch.rviz"/>
+	args="-d $(find fake_joint_launch)/launch/fake_joint_launch.rviz"/>
 
   <!-- Launch rqt joint_trajectory_controller -->
   <node if="$(arg use_rqt)"
@@ -33,7 +33,5 @@
     <param name="hzerror" value="10"/>
     <param name="test_duration" value="5.0"/>  
   </test>
-  <test test-name="test_fake_joint_driver" pkg="fake_joint_driver" type="test_fake_joint_driver.py"/>
 
-  
 </launch>