diff --git a/config.yaml b/config.yaml
new file mode 100644
index 0000000..c8d4161
--- /dev/null
+++ b/config.yaml
@@ -0,0 +1,13 @@
+/robot_controller:
+  ros__parameters:
+    lite6_x_limit_lower: 0.1
+    lite6_x_limit_upper: 0.305
+    lite6_y_limit_lower: -0.1475
+    lite6_y_limit_upper: 0.1475
+
+    lite6_z_lift_amount: 0.01
+    lite6_z_offset: 0.1475
+
+    lite6_blend_radius: 0.0
+    lite6_max_velocity_scaling_factor: 1.0
+    lite6_max_acceleration_scaling_factor: 0.9
diff --git a/src/lite6_controller/launch/lite6_real.launch.py b/src/lite6_controller/launch/lite6_real.launch.py
index 57fb59d..721ea20 100644
--- a/src/lite6_controller/launch/lite6_real.launch.py
+++ b/src/lite6_controller/launch/lite6_real.launch.py
@@ -1,4 +1,5 @@
 import os
+import yaml
 from launch import LaunchDescription
 from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -56,6 +57,8 @@ def launch_setup(context, *args, **kwargs):
     use_sim_time = LaunchConfiguration('use_sim_time', default=False)
     log_level = LaunchConfiguration("log_level", default='warn')
 
+    config = LaunchConfiguration("config", default=PathJoinSubstitution([FindPackageShare('lite6_controller'), 'config', 'config.yaml']))
+
     # # robot driver launch
     # # xarm_api/launch/_robot_driver.launch.py
     # robot_driver_launch = IncludeLaunchDescription(
@@ -165,7 +168,11 @@ def launch_setup(context, *args, **kwargs):
 
     joint_limits_yaml = robot_description_parameters.get('robot_description_planning', None)
 
-    lite6_config = load_yaml('lite6_controller', 'config', 'config.yaml')
+    robotcontroller_config = config.perform(context)
+    with open(robotcontroller_config, 'r') as f:
+        lite6_config = yaml.safe_load(f)
+        print(f'Loaded configuration: {lite6_config}')
+    robot_description_parameters.update(lite6_config['/robot_controller']['ros__parameters'])
 
     if add_gripper.perform(context) in ('True', 'true'):
         gripper_controllers_yaml = load_yaml(moveit_config_package_name, 'config', '{}_gripper'.format(robot_type.perform(context)), '{}.yaml'.format(controllers_name.perform(context)))
@@ -355,7 +362,6 @@ def launch_setup(context, *args, **kwargs):
                 #robot_description_parameters['robot_description_kinematics'],
                 robot_description_parameters,
                 {"use_sim_time": use_sim_time},
-                lite6_config,
             ],
         ),
     ]
diff --git a/src/lite6_controller/src/lite6_controller.cpp b/src/lite6_controller/src/lite6_controller.cpp
index 6a9d05d..ce7207b 100644
--- a/src/lite6_controller/src/lite6_controller.cpp
+++ b/src/lite6_controller/src/lite6_controller.cpp
@@ -92,22 +92,22 @@ public:
       move_group(std::shared_ptr<rclcpp::Node>(std::move(this)), MOVE_GROUP)
   {
     // Declare parameters
-    this->declare_parameter("x_limit_lower", 0.1);
-    this->declare_parameter("x_limit_upper", 0.305);
-    this->declare_parameter("y_limit_lower", -0.1475);
-    this->declare_parameter("y_limit_upper", 0.1475);
-    this->declare_parameter("z_offset", 0.141087);
-    this->declare_parameter("z_lift_amount", 0.01);
-    this->declare_parameter("max_velocity_scaling_factor", 1.0);
-    this->declare_parameter("max_acceleration_scaling_factor", 0.6);
-    this->declare_parameter("blend_radius", 0.0);
+    this->declare_parameter("lite6_x_limit_lower", 0.1);
+    this->declare_parameter("lite6_x_limit_upper", 0.305);
+    this->declare_parameter("lite6_y_limit_lower", -0.1475);
+    this->declare_parameter("lite6_y_limit_upper", 0.1475);
+    this->declare_parameter("lite6_z_offset", 0.141087);
+    this->declare_parameter("lite6_z_lift_amount", 0.01);
+    this->declare_parameter("lite6_max_velocity_scaling_factor", 1.0);
+    this->declare_parameter("lite6_max_acceleration_scaling_factor", 0.6);
+    this->declare_parameter("lite6_blend_radius", 0.0);
 
-    xlim_lower = this->get_parameter("x_limit_lower").as_double();
-    xlim_upper = this->get_parameter("x_limit_upper").as_double();
-    ylim_lower = this->get_parameter("y_limit_lower").as_double();
-    ylim_upper = this->get_parameter("y_limit_upper").as_double();
-    zlim_lower = this->get_parameter("z_offset").as_double();
-    zlim_upper = zlim_lower + this->get_parameter("z_lift_amount").as_double();
+    xlim_lower = this->get_parameter("lite6_x_limit_lower").as_double();
+    xlim_upper = this->get_parameter("lite6_x_limit_upper").as_double();
+    ylim_lower = this->get_parameter("lite6_y_limit_lower").as_double();
+    ylim_upper = this->get_parameter("lite6_y_limit_upper").as_double();
+    zlim_lower = this->get_parameter("lite6_z_offset").as_double();
+    zlim_upper = zlim_lower + this->get_parameter("lite6_z_lift_amount").as_double();
 
     this->move_group.setMaxAccelerationScalingFactor(1.0);
     this->move_group.setMaxVelocityScalingFactor(1.0);
@@ -216,8 +216,8 @@ public:
       //mpr.planner_id = "LIN";
       mpr.group_name = move_group.getName();
       //mpr.max_velocity_scaling_factor = 1.0;
-      mpr.max_velocity_scaling_factor = this->get_parameter("max_velocity_scaling_factor").as_double();
-      mpr.max_acceleration_scaling_factor = this->get_parameter("max_acceleration_scaling_factor").as_double();
+      mpr.max_velocity_scaling_factor = this->get_parameter("lite6_max_velocity_scaling_factor").as_double();
+      mpr.max_acceleration_scaling_factor = this->get_parameter("lite6_max_acceleration_scaling_factor").as_double();
 
       //mpr.max_acceleration_scaling_factor = 0.1;
       mpr.allowed_planning_time = 20;
@@ -250,7 +250,7 @@ public:
       mpr.goal_constraints.push_back(pose_goal);
 
       msi.req = mpr;
-      msi.blend_radius = this->get_parameter("blend_radius").as_double();
+      msi.blend_radius = this->get_parameter("lite6_blend_radius").as_double();
       if (coincidentPoints(&pose.pose.position, &previous_point, msi.blend_radius + 1e-5))
       {
         RCLCPP_ERROR(this->get_logger(), "Detected coincident points, setting blend radius to 0.0");