diff --git a/README.md b/README.md
index dbff9a15..338447ee 100644
--- a/README.md
+++ b/README.md
@@ -309,7 +309,8 @@ The `kortex_sim_control.launch.py` launch file is designed to simulate all of ou
 ```bash
 ros2 launch kortex_bringup kortex_sim_control.launch.py \
   use_sim_time:=true \
-  launch_rviz:=false
+  launch_rviz:=false \
+  robot_controller:=joint_trajectory_controller
 ```
 
 * `sim_gazebo` : Use Gazebo for simulation. Default value is `false`.
diff --git a/ros2_kortex-not-released.rolling.repos b/ros2_kortex-not-released.rolling.repos
index 76a9cfea..f941227c 100644
--- a/ros2_kortex-not-released.rolling.repos
+++ b/ros2_kortex-not-released.rolling.repos
@@ -6,7 +6,7 @@ repositories:
   ros2_robotiq_gripper:
     type: git
     url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git
-    version: main
+    version: 27ecc36c1fa0db53a14f814d3b1008ae2874c039
   serial:
     type: git
     url: https://github.com/tylerjw/serial.git
diff --git a/ros2_kortex.repos b/ros2_kortex.repos
index fd089dd8..1dc8afd2 100644
--- a/ros2_kortex.repos
+++ b/ros2_kortex.repos
@@ -14,4 +14,4 @@ repositories:
   ros2_robotiq_gripper:
     type: git
     url: https://github.com/picknikrobotics/ros2_robotiq_gripper.git
-    version: main
+    version: 27ecc36c1fa0db53a14f814d3b1008ae2874c039