diff --git a/src/ign_world/launch/moveit_launch.py b/src/ign_world/launch/moveit_launch.py
index 78a23df..5b91ab2 100644
--- a/src/ign_world/launch/moveit_launch.py
+++ b/src/ign_world/launch/moveit_launch.py
@@ -4,11 +4,12 @@ import subprocess
 import yaml
 from launch import LaunchDescription
 from launch_ros.actions import Node
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, UnsetEnvironmentVariable
+from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, RegisterEventHandler, UnsetEnvironmentVariable
 from launch_ros.substitutions import FindPackageShare
-from launch.substitutions import Command, LaunchConfiguration
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
+from launch.event_handlers import OnProcessExit
 
 
 def load_file(package_name, file_path):
@@ -70,6 +71,15 @@ def generate_launch_description():
     ompl_planning_yaml = load_yaml('iisy_config', 'config/ompl_planning.yml')
     ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
 
+    robot_description_planning = {
+        "robot_description_planning": PathJoinSubstitution(
+            [
+                FindPackageShare("iisy_config"),
+                "config/joint_limits.yml"
+            ]
+        )
+    }
+
     controllers_yaml = load_yaml('iisy_config', 'config/iisy_moveit_controllers.yml')
     moveit_controllers = {'moveit_simple_controller_manager': controllers_yaml,
                           'moveit_controller_manager': 'moveit_simple_controller_manager/MoveItSimpleControllerManager'}
@@ -92,6 +102,36 @@ def generate_launch_description():
         }
     }
 
+    spawn_robot = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=['-world', 'empty', '-string', robot_description_config],
+        output='screen'
+    )
+
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[robot_description]
+    )
+
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        # arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'gpu_lidar_bridge.rviz')],
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            robot_description_planning,
+            ompl_planning_pipeline_config,
+            kinematics_yaml,
+            planning,
+            trajectory_execution,
+            moveit_controllers,
+            planning_scene_monitor_parameters,
+        ],
+    )
+
     # octomap_config = {'octomap_frame': 'camera_rgb_optical_frame',
     #                  'octomap_resolution': 0.05,
     #                  'max_range': 5.0}
@@ -113,13 +153,14 @@ def generate_launch_description():
         #    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))
         # ),
 
-        Node(
-            package='ros_gz_sim',
-            executable='create',
-            arguments=['-world', 'empty', '-string', robot_description_config],
-            output='screen'
+        RegisterEventHandler(
+            event_handler=OnProcessExit(
+                target_action=spawn_robot,
+                on_exit=[robot_state_publisher],
+            )
         ),
 
+
         Node(
             package='tf2_ros',
             namespace='gaz_simulation',
@@ -182,11 +223,7 @@ def generate_launch_description():
         #    parameters=[robot_description]
         # ),
 
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            parameters=[robot_description]
-        ),
+
 
         # ,
         # Node(
@@ -213,8 +250,10 @@ def generate_launch_description():
              parameters=[
                  robot_description,
                  robot_description_semantic,
-                 kinematics_yaml,
+                 robot_description_planning,
                  ompl_planning_pipeline_config,
+                 kinematics_yaml,
+                 planning,
                  trajectory_execution,
                  moveit_controllers,
                  planning_scene_monitor_parameters,
@@ -223,16 +262,7 @@ def generate_launch_description():
              ]
              ),
 
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            # arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'gpu_lidar_bridge.rviz')],
-            parameters=[
-                robot_description,
-                robot_description_semantic,
-                kinematics_yaml,
-                planning,
-            ],
-        ),
+        spawn_robot,
+        rviz
 
     ])
diff --git a/src/ign_world/world/gaz_new_test.sdf b/src/ign_world/world/gaz_new_test.sdf
index e328515..91a237b 100644
--- a/src/ign_world/world/gaz_new_test.sdf
+++ b/src/ign_world/world/gaz_new_test.sdf
@@ -40,7 +40,6 @@
       <animation name='standing_retract_arm'>
         <filename>/home/ros/standing_retract_arm.dae</filename>
       </animation>
-      
     </actor>
     
     <model name="ground_plane">
diff --git a/src/iisy_config/urdf/iisy.urdf b/src/iisy_config/urdf/iisy.urdf
index abc47c9..03e0a16 100644
--- a/src/iisy_config/urdf/iisy.urdf
+++ b/src/iisy_config/urdf/iisy.urdf
@@ -372,8 +372,11 @@
 
     <gazebo>
         <plugin name="ign_ros2_control::IgnitionROS2ControlPlugin" filename="$(find ign_ros2_control)/../../lib/libign_ros2_control-system.so">
+            <controller_manager_prefix_node_name>iisy</controller_manager_prefix_node_name>
             <parameters>$(find iisy_config)/config/iisy_controllers.yml</parameters>
-            <robotNamespace>/iisy</robotNamespace>
+            <ros>
+                <namespace>iisy</namespace>
+            </ros>
         </plugin>
     </gazebo>