diff --git a/launch/head_client.launch b/launch/head_client.launch
new file mode 100644
index 0000000000000000000000000000000000000000..307ec6737528ec9d52df9f30f96fd24603cf55e7
--- /dev/null
+++ b/launch/head_client.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- launch the play motion client node -->
+  <node name="head_client"
+        pkg="head_client"
+        type="head_client"
+        output="screen"
+        ns="/tiago">
+    <remap from="~/head_module/move_head"
+             to="/head_controller/follow_joint_trajectory"/>
+    <remap from="~/head_module/point_head"
+             to="/head_controller/point_head_action"/>
+
+    <rosparam file="$(find tiago_modules)/config/head_module_default.yaml" command="load" ns="head_module" />
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+</launch>
+
diff --git a/launch/head_client_sim.launch b/launch/head_client_sim.launch
index 25f6a44bb59d5adf4e4129c87c344c8faf4a64fd..90ad8b84d361657f54663f1b664997108c8e652e 100644
--- a/launch/head_client_sim.launch
+++ b/launch/head_client_sim.launch
@@ -5,37 +5,7 @@
     <arg name="robot" value="steel" />
   </include>
 
-  <!-- launch the play motion client node -->
-  <node name="head_client"
-        pkg="head_client"
-        type="head_client"
-        output="screen"
-        ns="/tiago">
-    <remap from="~/head_module/move_head"
-             to="/head_controller/follow_joint_trajectory"/>
-    <remap from="~/head_module/point_head"
-             to="/head_controller/point_head_action"/>
-    <param name="~/head_module/rate_hz" value="10"/>
-    <param name="~/head_module/move_max_retries" value="5"/>
-    <param name="~/head_module/move_enable_timeout" value="false"/>
-    <param name="~/head_module/move_feedback_watchdog_time_s" value="20"/>
-    <param name="~/head_module/move_timeout_s" value="10"/>
-    <param name="~/head_module/move_default_duration" value="1.0"/>
-    <param name="~/head_module/move_enabled" value="true"/>
-
-    <param name="~/head_module/point_max_retries" value="5"/>
-    <param name="~/head_module/point_enable_timeout" value="false"/>
-    <param name="~/head_module/point_feedback_watchdog_time_s" value="20"/>
-    <param name="~/head_module/point_timeout_s" value="10"/>
-    <param name="~/head_module/point_default_duration" value="1.0"/>
-    <param name="~/head_module/point_max_velocity" value="1.0"/>
-    <param name="~/head_module/point_min_velocity" value="0.25"/>
-    <param name="~/head_module/point_enabled" value="true"/>
-  </node>
-
-  <!-- launch dynamic reconfigure -->
-  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
-    output="screen"/>
+  <include file="$(find head_client)/launch/head_client.launch">
 
 </launch>
 
diff --git a/src/head_client_alg_node.cpp b/src/head_client_alg_node.cpp
index 969057025e3f4f900d3e949bf36f3fc8c7704236..4d618cb37c38db4d3b762a4e17923a17919c7db3 100644
--- a/src/head_client_alg_node.cpp
+++ b/src/head_client_alg_node.cpp
@@ -3,7 +3,7 @@
 
 HeadClientAlgNode::HeadClientAlgNode(void) :
   algorithm_base::IriBaseAlgorithm<HeadClientAlgorithm>(),
-  head("head_module")
+  head("head_module",ros::this_node::getName())
 {
   //init class attributes if necessary
   //this->loop_rate_ = 2;//in [Hz]