diff --git a/README.md b/README.md
index 29adba35b..2f37c321c 100644
--- a/README.md
+++ b/README.md
@@ -89,28 +89,35 @@ Each of the described example cases from the roadmap has its own launch and URDF
          joint2/position
   ```
 
-3. Open another terminal and load, configure, and start controllers:
-  ```
-  ros2 control load_start_controller joint_state_controller
-  ros2 control load_configure_controller forward_command_controller_position
-  ```
-  
-  Check if the controller is loaded properly:
-  ```
-  ros2 control list_controllers
-  ```
-  You should get the response:
-  ```
-  joint_state_controller[joint_state_controller/JointStateController] active  
-  forward_command_controller_position[forward_command_controller/ForwardCommandController] inactive
-  ```
-
-4. Starting controller:
-  ```
-  ros2 control switch_controllers --start-controllers forward_command_controller_position 
-  ```
-  
-  Check if controllers are activated:
+3. Open another terminal and load, configure and start controllers:
+   - Using the provided launch file:
+     ```
+     ros2 launch ros2_control_demo_robot joint_state_controller.launch.py
+     ros2 launch ros2_control_demo_robot forward_command_controller_position.launch.py
+  ```
+   
+- Using `ros2 control` cli interface:
+     ```
+     ros2 control load_start_controller joint_state_controller
+     ros2 control load_configure_controller forward_command_controller_position
+  ```
+   
+     Check if the controller is loaded properly:
+     ```
+     ros2 control list_controllers
+     ```
+     You should get the response:
+     ```
+     joint_state_controller[joint_state_controller/JointStateController] active  
+     forward_command_controller_position[forward_command_controller/ForwardCommandController] inactive
+  ```
+   
+     Starting controller:
+     ```
+     ros2 control switch_controllers --start-controllers forward_command_controller_position 
+  ```
+   
+4. Check if controllers are activated:
   ```
   ros2 control list_controllers
   ```
diff --git a/ros2_control_demo_robot/launch/forward_command_controller_position.launch.py b/ros2_control_demo_robot/launch/forward_command_controller_position.launch.py
new file mode 100644
index 000000000..67fbd62db
--- /dev/null
+++ b/ros2_control_demo_robot/launch/forward_command_controller_position.launch.py
@@ -0,0 +1,22 @@
+# Copyright (c) 2021 PAL Robotics S.L. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from controller_manager.launch_utils import generate_load_controller_launch_description
+
+
+def generate_launch_description():
+    return generate_load_controller_launch_description(
+        controller_name='forward_command_controller_position',
+        controller_type=None,
+        controller_params_file=None)
diff --git a/ros2_control_demo_robot/launch/joint_state_controller.launch.py b/ros2_control_demo_robot/launch/joint_state_controller.launch.py
new file mode 100644
index 000000000..f90b3070c
--- /dev/null
+++ b/ros2_control_demo_robot/launch/joint_state_controller.launch.py
@@ -0,0 +1,22 @@
+# Copyright (c) 2021 PAL Robotics S.L. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from controller_manager.launch_utils import generate_load_controller_launch_description
+
+
+def generate_launch_description():
+    return generate_load_controller_launch_description(
+        controller_name='joint_state_controller',
+        controller_type=None,
+        controller_params_file=None)
diff --git a/ros2_control_demo_robot/package.xml b/ros2_control_demo_robot/package.xml
index b0c761395..75192a3fc 100644
--- a/ros2_control_demo_robot/package.xml
+++ b/ros2_control_demo_robot/package.xml
@@ -17,6 +17,8 @@
 
   <depend>ros2_control_demo_hardware</depend>
 
+  <exec_depend>controller_manager</exec_depend>
+
   <test_depend>ament_cmake_gtest</test_depend>
 
   <export>