diff --git a/moveit_ros/moveit_servo/launch/pose_tracking_example.launch.py b/moveit_ros/moveit_servo/launch/pose_tracking_example.launch.py
index 69fed7eb75..29143be647 100644
--- a/moveit_ros/moveit_servo/launch/pose_tracking_example.launch.py
+++ b/moveit_ros/moveit_servo/launch/pose_tracking_example.launch.py
@@ -69,7 +69,7 @@ def generate_launch_description():
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros2_controllers.yaml",
+        "ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",
diff --git a/moveit_ros/moveit_servo/launch/servo_example.launch.py b/moveit_ros/moveit_servo/launch/servo_example.launch.py
index 4bccca9ec1..1e699cf2a6 100644
--- a/moveit_ros/moveit_servo/launch/servo_example.launch.py
+++ b/moveit_ros/moveit_servo/launch/servo_example.launch.py
@@ -70,7 +70,7 @@ def generate_launch_description():
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros2_controllers.yaml",
+        "ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",
diff --git a/moveit_ros/moveit_servo/test/launch/servo_launch_test_common.py b/moveit_ros/moveit_servo/test/launch/servo_launch_test_common.py
index ee5930d6fb..493c208140 100644
--- a/moveit_ros/moveit_servo/test/launch/servo_launch_test_common.py
+++ b/moveit_ros/moveit_servo/test/launch/servo_launch_test_common.py
@@ -47,7 +47,7 @@ def generate_servo_test_description(
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros2_controllers.yaml",
+        "ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",
diff --git a/moveit_ros/moveit_servo/test/launch/test_servo_pose_tracking.test.py b/moveit_ros/moveit_servo/test/launch/test_servo_pose_tracking.test.py
index cf151faae3..ce9e48bf42 100644
--- a/moveit_ros/moveit_servo/test/launch/test_servo_pose_tracking.test.py
+++ b/moveit_ros/moveit_servo/test/launch/test_servo_pose_tracking.test.py
@@ -34,7 +34,7 @@ def generate_servo_test_description(*args, gtest_name: SomeSubstitutionsType):
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros2_controllers.yaml",
+        "ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",
diff --git a/moveit_ros/planning_interface/test/launch/move_group_launch_test_common.py b/moveit_ros/planning_interface/test/launch/move_group_launch_test_common.py
index 860eeff78d..b7fbf86cda 100644
--- a/moveit_ros/planning_interface/test/launch/move_group_launch_test_common.py
+++ b/moveit_ros/planning_interface/test/launch/move_group_launch_test_common.py
@@ -14,7 +14,7 @@ def generate_move_group_test_description(*args, gtest_name: SomeSubstitutionsTyp
     moveit_config = (
         MoveItConfigsBuilder("moveit_resources_panda")
         .robot_description(file_path="config/panda.urdf.xacro")
-        .trajectory_execution(file_path="config/panda_gripper_controllers.yaml")
+        .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
         .to_moveit_configs()
     )
 
@@ -55,7 +55,7 @@ def generate_move_group_test_description(*args, gtest_name: SomeSubstitutionsTyp
     ros2_controllers_path = os.path.join(
         get_package_share_directory("moveit_resources_panda_moveit_config"),
         "config",
-        "panda_ros2_controllers.yaml",
+        "ros2_controllers.yaml",
     )
     ros2_control_node = Node(
         package="controller_manager",