diff --git a/webots_ros2_universal_robot/resource/ros2_control_abb_config.yaml b/webots_ros2_universal_robot/resource/ros2_control_abb_config.yaml
index 3ec96b1a4..2ecfb488c 100644
--- a/webots_ros2_universal_robot/resource/ros2_control_abb_config.yaml
+++ b/webots_ros2_universal_robot/resource/ros2_control_abb_config.yaml
@@ -8,6 +8,25 @@ abb/controller_manager:
     abb_joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
+abb/abb_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - A motor
+      - B motor
+      - C motor
+      - D motor
+      - E motor
+      - F motor
+      - finger_1_joint_1
+      - finger_2_joint_1
+      - finger_middle_joint_1
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
+    allow_partial_joints_goal: true
+
 abb_joint_trajectory_controller:
   ros__parameters:
     joints:
@@ -27,6 +46,10 @@ abb_joint_trajectory_controller:
 
     allow_partial_joints_goal: true
 
+abb/abb_joint_state_broadcaster:
+  ros__parameters:
+    use_local_topics: false
+
 abb_joint_state_broadcaster:
   ros__parameters:
     use_local_topics: false
diff --git a/webots_ros2_universal_robot/resource/ros2_control_config.yaml b/webots_ros2_universal_robot/resource/ros2_control_config.yaml
index 0a619c673..3179de746 100644
--- a/webots_ros2_universal_robot/resource/ros2_control_config.yaml
+++ b/webots_ros2_universal_robot/resource/ros2_control_config.yaml
@@ -8,6 +8,25 @@ ur5e/controller_manager:
     ur_joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
+ur5e/ur_joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+      - finger_1_joint_1
+      - finger_2_joint_1
+      - finger_middle_joint_1
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
+    allow_partial_joints_goal: true
+
 ur_joint_trajectory_controller:
   ros__parameters:
     joints:
@@ -27,6 +46,10 @@ ur_joint_trajectory_controller:
 
     allow_partial_joints_goal: true
 
-ur_joint_state_broadcaster:
+ur5e/ur_joint_state_broadcaster:
   ros__parameters:
     use_local_topics: false
+
+ur_joint_state_broadcaster:
+  ros__parameters:
+    use_local_topics: false
\ No newline at end of file