diff --git a/cfg/sas_robot_driver_franka_1.yaml b/cfg/sas_robot_driver_franka_1.yaml
index de14f80..95e85b3 100644
--- a/cfg/sas_robot_driver_franka_1.yaml
+++ b/cfg/sas_robot_driver_franka_1.yaml
@@ -1,5 +1,5 @@
 "robot_ip_address": "172.16.0.2"
-"robot_mode": "VelocityControl"
+"robot_mode": "PositionControl"
 "robot_port": 5007
 "robot_speed": 20.0
 "thread_sampling_time_nsec": 4000000
diff --git a/launch/sas_robot_driver_franka_1.launch b/launch/sas_robot_driver_franka_1.launch
index ad661c2..8df7f7f 100644
--- a/launch/sas_robot_driver_franka_1.launch
+++ b/launch/sas_robot_driver_franka_1.launch
@@ -1,5 +1,17 @@
 <launch>
-<rosparam file="$(find sas_robot_driver_franka)/cfg/sas_robot_driver_franka_1.yaml" command="load"/>
+
+
+
 <node pkg="sas_robot_driver_franka" type="sas_robot_driver_franka_node" name="franka_1">
+<rosparam file="$(find sas_robot_driver_franka)/cfg/sas_robot_driver_franka_1.yaml" command="load" 
+/>
+
+
+
 </node>
+
+
+
+
+
 </launch>
diff --git a/src/sas_robot_driver_franka_node.cpp b/src/sas_robot_driver_franka_node.cpp
index b235e7a..6359b37 100644
--- a/src/sas_robot_driver_franka_node.cpp
+++ b/src/sas_robot_driver_franka_node.cpp
@@ -71,7 +71,7 @@ int main(int argc, char **argv)
     sas::RobotDriverFrankaConfiguration robot_driver_franka_configuration;
 
     sas::get_ros_param(nh,"/robot_ip_address",robot_driver_franka_configuration.ip_address);
-    sas::get_ros_param(nh,"/robot_mode",      robot_driver_franka_configuration.mode, false);
+    sas::get_ros_param(nh,"/robot_mode",      robot_driver_franka_configuration.mode);
 
     sas::RobotDriverROSConfiguration robot_driver_ros_configuration;