diff --git a/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml b/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml
index 0fb9c446..f164cb1e 100644
--- a/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml
+++ b/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml
@@ -12,5 +12,6 @@ joint_trajectory_controller:
       - position
     state_interfaces:
       - position
-    state_publish_rate: 250.0
+    state_publish_rate: 50.0
     action_monitor_rate: 20.0
+    allow_nonzero_velocity_at_trajectory_end: True
diff --git a/kuka_iiqka_eac_driver/launch/startup.launch.py b/kuka_iiqka_eac_driver/launch/startup.launch.py
index 35cf85ff..e65f0fbf 100644
--- a/kuka_iiqka_eac_driver/launch/startup.launch.py
+++ b/kuka_iiqka_eac_driver/launch/startup.launch.py
@@ -34,7 +34,7 @@ def launch_setup(context, *args, **kwargs):
                  "urdf", robot_model.perform(context) + ".urdf.xacro"]
             ),
             " ",
-        ]
+        ], on_stderr='capture'
     )
 
     # Get URDF via xacro
diff --git a/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml b/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml
index 85b8feaa..2d4cece3 100644
--- a/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml
+++ b/kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml
@@ -14,3 +14,5 @@ joint_trajectory_controller:
       - position
     state_publish_rate: 50.0
     action_monitor_rate: 20.0
+    allow_nonzero_velocity_at_trajectory_end: True
+
diff --git a/kuka_kss_rsi_driver/launch/startup.launch.py b/kuka_kss_rsi_driver/launch/startup.launch.py
index 736cbbd9..25455a79 100644
--- a/kuka_kss_rsi_driver/launch/startup.launch.py
+++ b/kuka_kss_rsi_driver/launch/startup.launch.py
@@ -24,32 +24,22 @@
 
 def launch_setup(context, *args, **kwargs):
     robot_model = LaunchConfiguration('robot_model')
+    robot_family = LaunchConfiguration('robot_family')
     use_fake_hardware = LaunchConfiguration('use_fake_hardware')
 
-    # TODO(Svastits):better way to handle supported robot models and families
-    if robot_model.perform(context) in ["kr6_r700_sixx", "kr6_r900_sixx"]:
-        robot_family = "agilus"
-    elif robot_model.perform(context) in ["kr16_r2010_2"]:
-        robot_family = "cybertech"
-    elif robot_model.perform(context) in ["kr210_r2700_2", "kr210_r3100_2"]:
-        robot_family = "quantec"
-    else:
-        print("[ERROR] [launch]: robot model not recognized")
-        raise Exception
-
     # Get URDF via xacro
     robot_description_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare('kuka_{}_support'.format(robot_family)),
+                [FindPackageShare('kuka_{}_support'.format(robot_family.perform(context))),
                  "urdf", robot_model.perform(context) + ".urdf.xacro"]
             ),
             " ",
             "use_fake_hardware:=",
             use_fake_hardware,
-        ]
+        ], on_stderr='capture'
     )
 
     robot_description = {'robot_description': robot_description_content}
@@ -116,6 +106,10 @@ def generate_launch_description():
         'robot_model',
         default_value='kr6_r700_sixx'
     ))
+    launch_arguments.append(DeclareLaunchArgument(
+        'robot_family',
+        default_value='agilus'
+    ))
     launch_arguments.append(DeclareLaunchArgument(
         'use_fake_hardware',
         default_value="false"
diff --git a/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml b/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml
index 62619923..55e008d5 100644
--- a/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml
+++ b/kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml
@@ -13,5 +13,7 @@ joint_trajectory_controller:
       - position
     state_interfaces:
       - position
-    state_publish_rate: 100.0
+    state_publish_rate: 50.0
     action_monitor_rate: 20.0
+    allow_nonzero_velocity_at_trajectory_end: True
+
diff --git a/kuka_sunrise_fri_driver/launch/startup.launch.py b/kuka_sunrise_fri_driver/launch/startup.launch.py
index 5ecc763b..46673079 100644
--- a/kuka_sunrise_fri_driver/launch/startup.launch.py
+++ b/kuka_sunrise_fri_driver/launch/startup.launch.py
@@ -34,7 +34,7 @@ def launch_setup(context, *args, **kwargs):
                  "urdf", robot_model.perform(context) + ".urdf.xacro"]
             ),
             " ",
-        ]
+        ], on_stderr='capture'
     )
 
     # Get URDF via xacro