diff --git a/talos_bringup/config/talos_hardware.yaml b/talos_bringup/config/talos_full_hardware.yaml
similarity index 100%
rename from talos_bringup/config/talos_hardware.yaml
rename to talos_bringup/config/talos_full_hardware.yaml
diff --git a/talos_bringup/launch/talos_bringup.launch b/talos_bringup/launch/talos_bringup.launch
index 886b90dd6c1939f57ca75fcc7009235fbceccdcf..5f2fb7a6ab806e6ec38b73668e57924d0f5badd6 100644
--- a/talos_bringup/launch/talos_bringup.launch
+++ b/talos_bringup/launch/talos_bringup.launch
@@ -1,13 +1,21 @@
 <launch>
-  <arg name="robot" default="full_ft_hey5"/>
+  <arg name="robot" default="full"/>
 
+  <!-- Hardware configuration -->
+  <rosparam command="load" file="$(find talos_bringup)/config/talos_$(arg robot)_hardware.yaml" />
+  
   <!-- Load default controllers -->
   <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch" />
 
   <!-- Robot state publisher -->
   <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
-    <param name="publish_frequency" type="double" value="50.0" />
+    <param name="publish_frequency" type="double" value="100.0" />
     <param name="tf_prefix" type="string" value="" />
   </node>
+  
+  <!-- Robot model -->
+  <include file="$(find talos_description)/robots/upload_talos.launch" >
+     <arg name="robot" value="$(arg robot)"/>
+  </include>
 
 </launch>
diff --git a/talos_controller_configuration/launch/talos_default_controllers.launch b/talos_controller_configuration/launch/talos_default_controllers.launch
index 0c50dac29f65a7e2d4c4d301114ccc685d439a6a..fa08364b370454b84567ca945a2051b6d837f0bc 100644
--- a/talos_controller_configuration/launch/talos_default_controllers.launch
+++ b/talos_controller_configuration/launch/talos_default_controllers.launch
@@ -1,4 +1,5 @@
 <launch>
+
   <!-- Joint state controller -->
   <rosparam command="load" file="$(find joint_state_controller)/joint_state_controller.yaml" />
 
diff --git a/talos_controller_configuration/package.xml b/talos_controller_configuration/package.xml
index 315e7c516a2f01f00f474c9c4c561c23fa50d69d..0953b5482c93d1872cb73a2d21cbf0b37373a766 100644
--- a/talos_controller_configuration/package.xml
+++ b/talos_controller_configuration/package.xml
@@ -10,6 +10,12 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <run_depend>imu_sensor_controller</run_depend>
+  <run_depend>force_torque_sensor_controller</run_depend>
+  <run_depend>joint_trajectory_controller</run_depend>
+  <run_depend>controller_manager</run_depend>
+  <run_depend>joint_state_controller</run_depend>
+  
   <export>
   </export>