diff --git a/ur10_description/config/gazebo_controllers.yaml b/ur10_description/config/gazebo_controllers.yaml
index 36a73d3..23aa7f1 100644
--- a/ur10_description/config/gazebo_controllers.yaml
+++ b/ur10_description/config/gazebo_controllers.yaml
@@ -1,22 +1,69 @@
+# ur10:
+#   # Publish all joint states -----------------------------------
+#   joint_state_controller:
+#     type: joint_state_controller/JointStateController
+#     publish_rate: 50
+
 controller_manager:
   ros__parameters:
-    update_rate: 100  # Hz
+    #update_rate: 100 # Hz
+    #210611 if NOT set, ur10 dangles down with gravity
+    #TODO test other values
+    #update_rate: 1000 # Hz =Gazebo
 
     joint_trajectory_controller:
       type: joint_trajectory_controller/JointTrajectoryController
+      joints:
+        - shoulder_pan_joint
+        - shoulder_lift_joint
+        - elbow_joint
+        - wrist_1_joint
+        - wrist_2_joint
+        - wrist_3_joint
+      publish_rate: 50
+      write_op_modes:
+        - shoulder_pan_joint
+        - shoulder_lift_joint
+        - elbow_joint
+        - wrist_1_joint
+        - wrist_2_joint
+        - wrist_3_joint
 
     joint_state_controller:
       type: joint_state_controller/JointStateController
+      joints:
+        - shoulder_pan_joint
+        - shoulder_lift_joint
+        - elbow_joint
+        - wrist_1_joint
+        - wrist_2_joint
+        - wrist_3_joint
+      publish_rate: 50
+      write_op_modes:
+        - shoulder_pan_joint
+        - shoulder_lift_joint
+        - elbow_joint
+        - wrist_1_joint
+        - wrist_2_joint
+        - wrist_3_joint
 
 joint_trajectory_controller:
   ros__parameters:
     joints:
-       - shoulder_pan_joint
-       - shoulder_lift_joint
-       - elbow_joint
-       - wrist_1_joint
-       - wrist_2_joint
-       - wrist_3_joint
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    write_op_modes:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
     interface_name: position
     state_publish_rate: 50.0
-    action_monitor_rate: 20.0
\ No newline at end of file
+    #state_publish_rate: 25.0
+    action_monitor_rate: 20.0
diff --git a/ur10_gazebo/launch/ur10_gazebo.launch.py b/ur10_gazebo/launch/ur10_gazebo.launch.py
index 1ed640d..f77d982 100644
--- a/ur10_gazebo/launch/ur10_gazebo.launch.py
+++ b/ur10_gazebo/launch/ur10_gazebo.launch.py
@@ -84,39 +84,40 @@ def generate_launch_description():
                         arguments=['-topic', 'robot_description',
                                    '-entity', 'ur10'],
                         output='screen')
-
-    load_joint_state_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
-        output='screen'
-    )
-
-    load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_start_controller', 'joint_trajectory_controller'],
-        output='screen'
-    )
-
-    # Static TF
-    #static_tf = Node(package='tf2_ros',
-    #                 executable='static_transform_publisher',
-    #                 name='static_transform_publisher',
-    #                 output='log',
-    #                 arguments=['0.0', '0.0', '0.65', '0.0', '0.0', '0.0', 'world', 'ur_base'])
+    #210611
+    # load_joint_state_controller = ExecuteProcess(
+    #     cmd=['ros2', 'control', 'load_start_controller', 'joint_state_controller'],
+    #     output='screen'
+    # )
+
+    # load_joint_trajectory_controller = ExecuteProcess(
+    #     cmd=['ros2', 'control', 'load_start_controller', 'joint_trajectory_controller'],
+    #     output='screen'
+    # )
+
+    #Static TF
+    static_tf = Node(package='tf2_ros',
+                    executable='static_transform_publisher',
+                    name='static_transform_publisher',
+                    output='log',
+                    arguments=['0.0', '0.0', '0.65', '0.0', '0.0', '0.0', 'world', 'ur_base'])
 
     return LaunchDescription([
-      RegisterEventHandler(
-          event_handler=OnProcessExit(
-              target_action=spawn_entity,
-              on_exit=[load_joint_state_controller],
-          )
-      ),
-      RegisterEventHandler(
-          event_handler=OnProcessExit(
-              target_action=load_joint_state_controller,
-              on_exit=[load_joint_trajectory_controller],
-          )
-      ),
+    #210611
+    #   RegisterEventHandler(
+    #       event_handler=OnProcessExit(
+    #           target_action=spawn_entity,
+    #           on_exit=[load_joint_state_controller],
+    #       )
+    #   ),
+    #   RegisterEventHandler(
+    #       event_handler=OnProcessExit(
+    #           target_action=load_joint_state_controller,
+    #           on_exit=[load_joint_trajectory_controller],
+    #       )
+    #   ),
       gazebo,
       node_robot_state_publisher,
-      #static_tf,
+      static_tf,
       spawn_entity
     ])
diff --git a/ur10_moveit_config/config/ur10_ros_controllers.yaml b/ur10_moveit_config/config/ur10_ros_controllers.yaml
index fe92342..689d837 100644
--- a/ur10_moveit_config/config/ur10_ros_controllers.yaml
+++ b/ur10_moveit_config/config/ur10_ros_controllers.yaml
@@ -1,6 +1,7 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100  # Hz
+    #update_rate: 100  # Hz
+    #update_rate: 1000 # Hz  =Gazebo
 
     ur10_arm_controller:
       type: joint_trajectory_controller/JointTrajectoryController
@@ -8,7 +9,6 @@ controller_manager:
     joint_state_controller:
       type: joint_state_controller/JointStateController
 
-
 ur10_arm_controller:
   ros__parameters:
     joints: