diff --git a/config/ana_joint_trajectory_gazebo_config.yaml b/config/ana_joint_trajectory_gazebo_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b059e8a2e7112bd8c1b11d82979fdd76753872a3
--- /dev/null
+++ b/config/ana_joint_trajectory_gazebo_config.yaml
@@ -0,0 +1,3 @@
+default_pos_tol: 0.02
+node_rate: 100
+thread_rate: 50
diff --git a/config/ana_pan_tilt_effort_sim_config.yaml b/config/ana_pan_tilt_effort_sim_config.yaml
deleted file mode 100644
index 4b3bb1374261f21f64db6a24ab23dda2995b5d1e..0000000000000000000000000000000000000000
--- a/config/ana_pan_tilt_effort_sim_config.yaml
+++ /dev/null
@@ -1,24 +0,0 @@
-ana:
-
-  joint_state_controller:
-    type: "joint_state_controller/JointStateController"
-    publish_rate: 50  
-
-  effort_controller:
-    type: "effort_controllers/JointTrajectoryController"
-    joints:
-      - pan
-      - tilt
-    gains:
-      pan: {p: 40, d: 0, i: 10, i_clamp: 1000}
-      tilt: {p: 20, d: 0, i: 0, i_clamp: 1000}
-    constrains:
-      pan:
-        goal: 0.02
-        trajectory: 0.05
-      tilt:
-        goal: 0.02
-        trajectory: 0.05
-    state_publish_rate: 50
-    allow_partial_joints_goal: true
-
diff --git a/config/ana_pan_tilt_gazebo.yaml b/config/ana_pan_tilt_gazebo.yaml
index 11f5dfc111ef0ccdd76c3a8b2ff6ac1edf97b160..24c44d705f14e5528efc508c83a023beab690d82 100644
--- a/config/ana_pan_tilt_gazebo.yaml
+++ b/config/ana_pan_tilt_gazebo.yaml
@@ -1,3 +1,2 @@
 robotNamespace: ana
-robotParam: ana/robot_description
 
diff --git a/config/ana_pan_tilt_position_sim_config.yaml b/config/ana_pan_tilt_position_sim_config.yaml
deleted file mode 100644
index 73d76ae0f8c4763726f2e471a116aa842e56d633..0000000000000000000000000000000000000000
--- a/config/ana_pan_tilt_position_sim_config.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-ana:
-
-  joint_state_controller:
-    type: "joint_state_controller/JointStateController"
-    publish_rate: 50  
-
-  position_controller:
-    type: "position_controllers/JointTrajectoryController"
-    joints:
-      - pan
-      - tilt
-    gains:
-      pan: {p: 40, d: 0, i: 10, i_clamp: 1000}
-      tilt: {p: 20, d: 0, i: 0, i_clamp: 1000}
-    constrains:
-      pan:
-        goal: 0.02
-        trajectory: 0.05
-      tilt:
-        goal: 0.02
-        trajectory: 0.05
-    state_publish_rate: 50
-    allow_partial_joints_goal: true
-
-gazebo_ros_control:   
-  pid_gains:
-    pan:
-      p: 0.01
-      i: 0.0
-      d: 0.0
-    tilt:
-      p: 0.01
-      i: 0.0
-      d: 0.0
diff --git a/config/ana_pan_tilt_sim_config.yaml b/config/ana_pan_tilt_sim_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..77ec13a3a8ece19b2325acf718dd1b9ace548f88
--- /dev/null
+++ b/config/ana_pan_tilt_sim_config.yaml
@@ -0,0 +1,27 @@
+ana:
+
+  joint_state_controller:
+    type: "joint_state_controller/JointStateController"
+    publish_rate: 50  
+
+  effort_controller:
+    type: "effort_controllers/JointGroupEffortController"
+    joints:
+      - pan
+      - tilt
+
+  pan_position_controller:
+    type: "effort_controllers/JointPositionController"
+    joint: pan
+    pid:
+      p: 10.0
+      i: 0.3
+      d: 0.0
+
+  tilt_position_controller:
+    type: "effort_controllers/JointPositionController"
+    joint: tilt
+    pid:
+      p: 10.0
+      i: 0.3
+      d: 0.0
diff --git a/launch/sim_sample.launch b/launch/sim_sample.launch
index c3fe167b2fe767e65823ac5b2e9e8b2c46269a45..2587e4918b73922e2aae61751d050d0cca036d09 100644
--- a/launch/sim_sample.launch
+++ b/launch/sim_sample.launch
@@ -8,8 +8,10 @@
   <arg name="rviz"  default="false"/>
   <arg name="gui"   default="true"/>
 
-  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_effort_sim_config.yaml" />
-  <arg name="pan_tilt_controller" default="effort_controller" />
+  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_sim_config.yaml" />
+  <arg name="joint_trajectory_config_file" default="$(find iri_ana_gazebo)/config/ana_joint_trajectory_gazebo_config.yaml"/>
+  <arg name="pan_tilt_effort_controller_ns" default="effort_controller" />
+  <arg name="pan_tilt_position_controller_ns" default="position_controller" />
 
   <include file="$(find iri_gazebo_worlds)/launch/test.launch">
     <arg name="gui"         value="$(arg gui)"/>
@@ -25,7 +27,9 @@
     <arg name="y"     value="0.0"/>
     <arg name="yaw"   value="0.0"/>
     <arg name="pan_tilt_controller_config_file"    value="$(arg pan_tilt_controller_config_file)"/>
-    <arg name="pan_tilt_controller"    value="$(arg pan_tilt_controller)"/>
+    <arg name="joint_trajectory_config_file"       value="$(arg joint_trajectory_config_file)"/>
+    <arg name="pan_tilt_effort_controller_ns"      value="$(arg pan_tilt_effort_controller_ns)"/>
+    <arg name="pan_tilt_position_controller_ns"    value="$(arg pan_tilt_position_controller_ns)"/>
   </include>
 
   <include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
diff --git a/launch/spawn.launch b/launch/spawn.launch
index d11e9f27ff341103e15746fd7ac63b4667dbd7f2..93c56e4366a1fd46a0e6c1a1f0fa16017e7debea 100644
--- a/launch/spawn.launch
+++ b/launch/spawn.launch
@@ -7,8 +7,10 @@
   <arg name="y"     default="0.0"/>
   <arg name="yaw"   default="0.0"/>
 
-  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_effort_sim_config.yaml" />
-  <arg name="pan_tilt_controller" default="effort_controller" />
+  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_sim_config.yaml" />
+  <arg name="joint_trajectory_config_file" default="$(find iri_ana_gazebo)/config/ana_joint_trajectory_gazebo_config.yaml"/>
+  <arg name="pan_tilt_effort_controller_ns"   default="effort_controller" />
+  <arg name="pan_tilt_position_controller_ns" default="position_controller" />
   
   <include file="$(find iri_ana_description)/launch/description.launch">
     <arg name="ns"            value="$(arg ns)"/>
@@ -26,9 +28,11 @@
   </group>
 
   <include file="$(find iri_joint_trajectory_gazebo)/launch/iri_joint_trajectory_gazebo.launch">
-    <arg name="config_file" value="$(arg pan_tilt_controller_config_file)"/>
-    <arg name="controller" value="$(arg pan_tilt_controller)"/>
-    <arg name="robot_ns" value="$(arg ns)"/>
+    <arg name="controller_config_file"   value="$(arg pan_tilt_controller_config_file)"/>
+    <arg name="effort_controller_ns"     value="$(arg pan_tilt_effort_controller_ns)"/>
+    <arg name="position_controller_ns"   value="$(arg pan_tilt_position_controller_ns)"/>
+    <arg name="robot_ns"                 value="$(arg ns)"/>
+    <arg name="config_file"              value="$(arg joint_trajectory_config_file)"/>
   </include>
 
 </launch>