diff --git a/lbr_bringup/launch/real.launch.py b/lbr_bringup/launch/real.launch.py
index 83122dca..35f3a3f2 100644
--- a/lbr_bringup/launch/real.launch.py
+++ b/lbr_bringup/launch/real.launch.py
@@ -1,12 +1,15 @@
 from typing import List
 
 from launch import LaunchContext, LaunchDescription, LaunchDescriptionEntity
-from launch.actions import (DeclareLaunchArgument, OpaqueFunction,
-                            RegisterEventHandler)
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
 from launch.conditions import IfCondition, UnlessCondition
 from launch.event_handlers import OnProcessExit, OnProcessStart
-from launch.substitutions import (AndSubstitution, LaunchConfiguration,
-                                  NotSubstitution, PathJoinSubstitution)
+from launch.substitutions import (
+    AndSubstitution,
+    LaunchConfiguration,
+    NotSubstitution,
+    PathJoinSubstitution,
+)
 
 from lbr_bringup import LBRMoveGroupMixin
 from lbr_description import LBRDescriptionMixin, RVizMixin
@@ -23,8 +26,12 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
     ld.add_action(ros2_control_node)
 
     # joint state broad caster and controller on ros2 control node start
-    joint_state_broadcaster = LBRROS2ControlMixin.node_joint_state_broadcaster()
-    controller = LBRROS2ControlMixin.node_controller()
+    joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
+        controller="joint_state_broadcaster"
+    )
+    controller = LBRROS2ControlMixin.node_controller_spawner(
+        controller=LaunchConfiguration("ctrl")
+    )
 
     controller_event_handler = RegisterEventHandler(
         OnProcessStart(
diff --git a/lbr_bringup/launch/sim.launch.py b/lbr_bringup/launch/sim.launch.py
index fbef3c8e..00c684ac 100644
--- a/lbr_bringup/launch/sim.launch.py
+++ b/lbr_bringup/launch/sim.launch.py
@@ -23,7 +23,9 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
     ld.add_action(GazeboMixin.include_gazebo())  # Gazebo has its own controller manager
     spawn_entity = GazeboMixin.node_spawn_entity()
     ld.add_action(spawn_entity)
-    joint_state_broadcaster = LBRROS2ControlMixin.node_joint_state_broadcaster()
+    joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
+        controller="joint_state_broadcaster"
+    )
     ld.add_action(joint_state_broadcaster)
     robot_state_publisher = LBRROS2ControlMixin.node_robot_state_publisher(
         robot_description=robot_description, use_sim_time=True
@@ -31,7 +33,11 @@ def launch_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
     ld.add_action(
         robot_state_publisher
     )  # Do not condition robot state publisher on joint state broadcaster as Gazebo uses robot state publisher to retrieve robot description
-    ld.add_action(LBRROS2ControlMixin.node_controller())
+    ld.add_action(
+        LBRROS2ControlMixin.node_controller_spawner(
+            controller=LaunchConfiguration("ctrl")
+        )
+    )
 
     # MoveIt 2
     ld.add_action(LBRMoveGroupMixin.arg_allow_trajectory_execution())
diff --git a/lbr_ros2_control/launch/system_interface.launch.py b/lbr_ros2_control/launch/system_interface.launch.py
index 3141f038..9d1a1460 100644
--- a/lbr_ros2_control/launch/system_interface.launch.py
+++ b/lbr_ros2_control/launch/system_interface.launch.py
@@ -1,6 +1,7 @@
 from launch import LaunchDescription
 from launch.actions import RegisterEventHandler
 from launch.event_handlers import OnProcessStart
+from launch.substitutions import LaunchConfiguration
 
 from lbr_description import LBRDescriptionMixin
 from lbr_ros2_control import LBRROS2ControlMixin
@@ -24,8 +25,12 @@ def generate_launch_description() -> LaunchDescription:
         robot_description=robot_description
     )
     ld.add_action(ros2_control_node)
-    joint_state_broadcaster = LBRSystemInterface.node_joint_state_broadcaster()
-    controller = LBRSystemInterface.node_controller()
+    joint_state_broadcaster = LBRSystemInterface.node_controller_spawner(
+        controller="joint_state_broadcaster"
+    )
+    controller = LBRSystemInterface.node_controller_spawner(
+        controller=LaunchConfiguration("ctrl")
+    )
     controller_event_handler = RegisterEventHandler(
         OnProcessStart(
             target_action=ros2_control_node,
diff --git a/lbr_ros2_control/lbr_ros2_control/launch_mixin.py b/lbr_ros2_control/lbr_ros2_control/launch_mixin.py
index 85ad1df5..8f11ce92 100644
--- a/lbr_ros2_control/lbr_ros2_control/launch_mixin.py
+++ b/lbr_ros2_control/lbr_ros2_control/launch_mixin.py
@@ -72,38 +72,21 @@ def node_ros2_control(
         )
 
     @staticmethod
-    def node_joint_state_broadcaster(
+    def node_controller_spawner(
         robot_name: Optional[Union[LaunchConfiguration, str]] = None,
+        controller: Optional[Union[LaunchConfiguration, str]] = None,
         **kwargs,
     ) -> Node:
         if robot_name is None:
             robot_name = LaunchConfiguration("robot_name", default="lbr")
+        if controller is None:
+            controller = LaunchConfiguration("ctrl")
         return Node(
             package="controller_manager",
             executable="spawner",
             output="screen",
             arguments=[
-                "joint_state_broadcaster",
-                "--controller-manager",
-                "controller_manager",
-            ],
-            namespace=robot_name,
-            **kwargs,
-        )
-
-    @staticmethod
-    def node_controller(
-        robot_name: Optional[Union[LaunchConfiguration, str]] = None,
-        **kwargs,
-    ) -> Node:
-        if robot_name is None:
-            robot_name = LaunchConfiguration("robot_name", default="lbr")
-        return Node(
-            package="controller_manager",
-            executable="spawner",
-            output="screen",
-            arguments=[
-                LaunchConfiguration("ctrl", default="position_trajectory_controller"),
+                controller,
                 "--controller-manager",
                 "controller_manager",
             ],