Specify only the diff controller.

ur5_moveit_config/launch/moveit_planning_execution.launch

@@ -1,9 +1,10 @@
 <launch>
   <arg name="sim" default="false" />
   <arg name="debug" default="false" />
+  <arg name="controller_name" default="eff_joint_traj_controller"/>
 
   <!-- Remap follow_joint_trajectory -->
-  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/pos_joint_traj_controller/follow_joint_trajectory"/>
+  <remap if="$(arg sim)" from="/scaled_pos_joint_traj_controller/follow_joint_trajectory" to="/$(arg controller_name)/follow_joint_trajectory"/>
 
   <!-- Launch moveit -->
   <include file="$(find ur5_moveit_config)/launch/move_group.launch">

ur5_moveit_tutorials/launch/ur5_moveit_servo_common.launch

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-    <arg name="controllers" doc="Which controllers to launch"/>
+    <arg name="controller" doc="Which additional controller to launch"/>
     <arg name="servo_params_file" doc="The servo parameters configuration file"/>
     <include file="$(find ur_gazebo)/launch/ur5_bringup.launch">
-        <arg name="controllers" value="$(arg controllers)"/>
+        <arg name="controllers" value="joint_state_controller $(arg controller)"/>
         <arg name="stopped_controllers" value=""/>
         <arg name="transmission_hw_interface" value="hardware_interface/PositionJointInterface"/>
         <arg name="paused" value="true"/>
@@ -12,6 +12,7 @@
     </include>        
     <include file="$(find ur5_moveit_config)/launch/moveit_planning_execution.launch">
         <arg name="sim" value="true"/>
+        <arg name="controller_name" value="$(arg controller)"/>
     </include>
 
     <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"

ur5_moveit_tutorials/launch/ur5_moveit_servo_w_joint_group_controller.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
     <include file="$(find ur5_moveit_tutorials)/launch/ur5_moveit_servo_common.launch">
-        <arg name="controllers" value="joint_state_controller joint_group_pos_controller"/>
+        <arg name="controller" value="joint_group_pos_controller"/>
         <arg name="servo_params_file" value="$(find ur5_moveit_tutorials)/config/joint_group_servo_params.yaml"/>
     </include>
 </launch>

ur5_moveit_tutorials/launch/ur5_moveit_servo_w_traj_controller.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
     <include file="$(find ur5_moveit_tutorials)/launch/ur5_moveit_servo_common.launch">
-        <arg name="controllers" value="joint_state_controller pos_joint_traj_controller"/>
+        <arg name="controller" value="pos_joint_traj_controller"/>
         <arg name="servo_params_file" value="$(find ur5_moveit_tutorials)/config/pos_joint_traj_servo_params.yaml"/>
     </include>
 </launch>