diff --git a/README.md b/README.md
index 61d3799..d2f87a2 100644
--- a/README.md
+++ b/README.md
@@ -64,7 +64,7 @@ ros2 launch ur_robotiq_moveit_config ur_robotiq_moveit.launch.py use_fake_hardwa
 ### use_fake_hardware:=true
 Terminal 1.:
 ```bash
-ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
+ros2 launch ur_robotiq_description ur_robotiq_control.launch.py robot_ip:=aaa.bbb.ccc.ddd use_fake_hardware:=true launch_rviz:=false
 ```
 Terminal 2.:
 ```bash
diff --git a/src/ur_robotiq_description/launch/ur_robotiq_control.launch.py b/src/ur_robotiq_description/launch/ur_robotiq_control.launch.py
index 7b01ac9..b91cee9 100644
--- a/src/ur_robotiq_description/launch/ur_robotiq_control.launch.py
+++ b/src/ur_robotiq_description/launch/ur_robotiq_control.launch.py
@@ -25,7 +25,6 @@ def launch_setup(context, *args, **kwargs):
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     fake_sensor_commands = LaunchConfiguration("fake_sensor_commands")
     controller_spawner_timeout = LaunchConfiguration("controller_spawner_timeout")
-    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
     activate_joint_controller = LaunchConfiguration("activate_joint_controller")
     launch_rviz = LaunchConfiguration("launch_rviz")
     headless_mode = LaunchConfiguration("headless_mode")
@@ -170,6 +169,11 @@ def launch_setup(context, *args, **kwargs):
 
     robot_description = {"robot_description": robot_description_content}
 
+    if use_fake_hardware.perform(context):
+        initial_joint_controller = "joint_trajectory_controller"
+    else:
+        initial_joint_controller = "scaled_joint_trajectory_controller"
+
     initial_joint_controllers = PathJoinSubstitution(
         [FindPackageShare(description_package), "config", controllers_file]
     )
@@ -481,13 +485,7 @@ def generate_launch_description():
             description="Timeout used when spawning controllers.",
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "initial_joint_controller",
-            default_value="scaled_joint_trajectory_controller",
-            description="Initially loaded robot controller.",
-        )
-    )
+
     declared_arguments.append(
         DeclareLaunchArgument(
             "activate_joint_controller",