diff --git a/README.md b/README.md
index a061d8c..8fbd767 100644
--- a/README.md
+++ b/README.md
@@ -100,8 +100,8 @@ GUI, set the "Run Mode" to "Roll" for continuous updating:
 The rviz and simulated trajectories are launched identically to the
 `rrbot_control` package:
 
-    roslaunch hal_rrbot_control rrbot_visualize.launch
-    roslaunch hal_rrbot_control rrbot_test_trajectory.launch
+    roslaunch rrbot_control_boilerplate rrbot_visualize.launch
+    roslaunch rrbot_control_boilerplate rrbot_test_trajectory.launch
 
 ### `hal_io` demo
 
diff --git a/hal_rrbot_control/CMakeLists.txt b/hal_rrbot_control/CMakeLists.txt
index 8279afd..68eecbd 100644
--- a/hal_rrbot_control/CMakeLists.txt
+++ b/hal_rrbot_control/CMakeLists.txt
@@ -4,13 +4,13 @@ project(hal_rrbot_control)
 find_package(
   catkin REQUIRED COMPONENTS
   hal_hw_interface
-  rrbot_control
+  rrbot_control_boilerplate
   )
 
 catkin_package(
   CATKIN_DEPENDS
   hal_hw_interface
-  rrbot_control
+  rrbot_control_boilerplate
   )
 
 install(DIRECTORY config
diff --git a/hal_rrbot_control/config/rrbot_controllers.yaml b/hal_rrbot_control/config/rrbot_controllers.yaml
deleted file mode 100644
index e369614..0000000
--- a/hal_rrbot_control/config/rrbot_controllers.yaml
+++ /dev/null
@@ -1,65 +0,0 @@
-# This file was copied directly from the ros_control_boilerplate
-# package without modification.
-
-# ros_control_boilerplate Settings -----------------------
-# Settings for ros_control control loop
-generic_hw_control_loop:
-  loop_hz: 300
-  cycle_time_error_threshold: 0.01
-
-# Settings for ros_control hardware interface
-hardware_interface:
-   joints:
-      - joint1
-      - joint2
-   sim_control_mode: 0 # 0: position, 1: velocity
-
-# Publish all joint states ----------------------------------
-# Creates the /joint_states topic necessary in ROS
-joint_state_controller:
-   type:         joint_state_controller/JointStateController
-   publish_rate: 50
-
-# Joint Trajectory Controller -------------------------------
-# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-position_trajectory_controller:
-   type: position_controllers/JointTrajectoryController
-   # These joints can likely just be copied from the hardware_interface list above
-   joints:
-      - joint1
-      - joint2
-   constraints:
-      goal_time: 5.0
-      #stopped_position_tolerance: 0.4 # Defaults to 0.01
-      joint1:
-          trajectory: 0.60
-          goal:       0.15
-      joint2:
-          trajectory: 0.60
-          goal:       0.15
-   # gains:
-   #     joint1: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
-   #     joint2: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
-
-    # state_publish_rate:  50 # Defaults to 50
-    # action_monitor_rate: 20 # Defaults to 20
-    #hold_trajectory_duration: 0 # Defaults to 0.5
-
-# Individual Position Controllers ---------------------------------------
-# Allows to send individual ROS msg of Float64 to each joint separately
-joint1_position_controller:
-   type: position_controllers/JointPositionController
-   joint: joint1
-   pid: {p: 100.0, i: 0.01, d: 10.0}
-joint2_position_controller:
-   type: position_controllers/JointPositionController
-   joint: joint2
-   pid: {p: 100.0, i: 0.01, d: 10.0}
-
-# Group Position Controllers ---------------------------------------
-# Allows to send single ROS msg of Float64MultiArray to all joints
-joint_position_controller:
-   type: position_controllers/JointGroupPositionController
-   joints:
-     - joint1
-     - joint2
diff --git a/hal_rrbot_control/launch/hal_rrbot_simulation.launch b/hal_rrbot_control/launch/hal_rrbot_simulation.launch
index 5b94696..3509d34 100644
--- a/hal_rrbot_control/launch/hal_rrbot_simulation.launch
+++ b/hal_rrbot_control/launch/hal_rrbot_simulation.launch
@@ -11,19 +11,19 @@
   <!-- - Set HAL debug level, 0-5 -->
   <arg name="hal_debug_level" default="1" />
 
-  <group ns="rrbot">		<!-- Same ns as `rrbot_control` package -->
+  <!-- Load example URDF from rrbot_description package -->
+  <param
+      name="robot_description"
+      command="$(find xacro)/xacro --inorder
+               '$(find rrbot_description)/urdf/rrbot.xacro'"
+      />
 
-    <!-- Load example URDF from rrbot_description package -->
-    <param
-	name="robot_description"
-	command="$(find xacro)/xacro --inorder
-                 '$(find rrbot_description)/urdf/rrbot.xacro'"
-	         />
+  <group ns="rrbot">		<!-- Same ns as `rrbot_control` package -->
 
     <!-- Load all settings into ROS parameter server -->
-    <!-- - Joint parameters from rrbot_control package -->
+    <!-- - Joint parameters from rrbot_control_boilerplate package -->
     <rosparam
-	file="$(find hal_rrbot_control)/config/rrbot_controllers.yaml"
+	file="$(find rrbot_control_boilerplate)/config/rrbot_controllers.yaml"
 	command="load"
         />
     <!-- - HAL configuration params -->
diff --git a/hal_rrbot_control/launch/rrbot_test_trajectory.launch b/hal_rrbot_control/launch/rrbot_test_trajectory.launch
deleted file mode 100644
index 0f7868e..0000000
--- a/hal_rrbot_control/launch/rrbot_test_trajectory.launch
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- This file was copied directly from ros_control_boilerplate -->
-  <!-- It is only changed as indicated below in comments -->
-
-  <!-- GDB functionality -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
-
-  <group ns="rrbot">
-
-    <!-- Load hardware interface -->
-    <node name="test_trajectory" pkg="ros_control_boilerplate" type="test_trajectory"
-          output="screen" launch-prefix="$(arg launch_prefix)">
-      <param name="action_topic" value="/rrbot/position_trajectory_controller/follow_joint_trajectory/"/>
-      <!-- This line is changed to pick up the local file, since the
-           ros_control_boilerplate version isn't installed -->
-      <!-- <rosparam file="$(find ros_control_boilerplate)/rrbot_control/config/rrbot_controllers.yaml" command="load"/> -->
-      <rosparam file="$(find hal_rrbot_control)/config/rrbot_controllers.yaml"
-                command="load"/>
-    </node>
-
-  </group>
-
-</launch>
diff --git a/hal_rrbot_control/launch/rrbot_visualize.launch b/hal_rrbot_control/launch/rrbot_visualize.launch
deleted file mode 100644
index 7e074e9..0000000
--- a/hal_rrbot_control/launch/rrbot_visualize.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- This file was copied directly from ros_control_boilerplate -->
-
-  <!-- Load example URDF -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find rrbot_description)/urdf/rrbot.xacro'" />
-
-  <!-- Show in Rviz  -->
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rrbot_description)/launch/rrbot.rviz"/>
-
-</launch>
diff --git a/hal_rrbot_control/package.xml b/hal_rrbot_control/package.xml
index 442045f..de3d8d6 100644
--- a/hal_rrbot_control/package.xml
+++ b/hal_rrbot_control/package.xml
@@ -13,9 +13,9 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>hal_hw_interface</build_depend>
-  <build_depend>rrbot_control</build_depend>
+  <build_depend>rrbot_control_boilerplate</build_depend>
 
   <run_depend>hal_hw_interface</run_depend>
-  <run_depend>rrbot_control</run_depend>
+  <run_depend>rrbot_control_boilerplate</run_depend>
   <run_depend>rrbot_description</run_depend>
 </package>