diff --git a/config/ivo_head_module_default.yaml b/config/ivo_head_module_default.yaml
index 3da872299b37f59e0d0db488497a878ea6f5c532..365ce1a5b9f9802dfbd913775866f4ceac7db8df 100644
--- a/config/ivo_head_module_default.yaml
+++ b/config/ivo_head_module_default.yaml
@@ -1,17 +1,17 @@
 head_module_rate_hz: 1.0
 
 move_num_retries: 1
-move_feedback_watchdog_time_s: 10.0
+move_feedback_watchdog_time_s: 1.0
 move_enable_watchdog: True
-move_timeout_s: 1.0
+move_timeout_s: 10.0
 move_enable_timeout: True
 move_default_duration: 1.0
 move_enabled: True
 
 point_num_retries: 1
-point_feedback_watchdog_time_s: 10.0
+point_feedback_watchdog_time_s: 1.0
 point_enable_watchdog: True
-point_timeout_s: 1.0
+point_timeout_s: 10.0
 point_enable_timeout: True
 point_default_duration: 1.0
 point_max_velocity: 1.0
diff --git a/config/tiago_head_module_default.yaml b/config/tiago_head_module_default.yaml
index 99a809ba67beeeb8269b9ea5294bc39a6bed8d6e..da88a071ac8c2b065118e83daf2962be93d6b1ca 100644
--- a/config/tiago_head_module_default.yaml
+++ b/config/tiago_head_module_default.yaml
@@ -1,17 +1,17 @@
 head_module_rate_hz: 1.0
 
 move_num_retries: 1
-move_feedback_watchdog_time_s: 10.0
+move_feedback_watchdog_time_s: 1.0
 move_enable_watchdog: True
-move_timeout_s: 1.0
+move_timeout_s: 10.0
 move_enable_timeout: True
 move_default_duration: 1.0
 move_enabled: True
 
 point_num_retries: 1
-point_feedback_watchdog_time_s: 10.0
+point_feedback_watchdog_time_s: 1.0
 point_enable_watchdog: True
-point_timeout_s: 1.0
+point_timeout_s: 10.0
 point_enable_timeout: True
 point_default_duration: 1.0
 point_max_velocity: 1.0
diff --git a/launch/ivo_head_client_sim.launch b/launch/ivo_head_client_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..14ca460eadb1f7fbc87a586acf41037c6f28102f
--- /dev/null
+++ b/launch/ivo_head_client_sim.launch
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="head_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_head_module)/config/ivo_head_module_default.yaml" />
+  <arg name="move_action" default="/head_controller/follow_joint_trajectory"/>
+  <arg name="point_action" default="/head_controller/point_head_action"/>
+
+  <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch">
+  </include>
+
+  <include file="$(find tiago_head_module)/launch/tiago_head_client.launch">
+    <arg name="node_name"     default="$(arg node_name)" />
+    <arg name="output"        default="$(arg output)" />
+    <arg name="launch_prefix" default="$(arg launch_prefix)" />
+    <arg name="config_file"   default="$(arg config_file)" />
+    <arg name="move_action"   default="$(arg move_action)"/>
+    <arg name="point_action"  default="$(arg point_action)"/>
+  </include>
+
+</launch>
+