diff --git a/test/config/robot_controllers.yaml b/test/config/robot_controllers.yaml
index c5c956f..9f322ed 100644
--- a/test/config/robot_controllers.yaml
+++ b/test/config/robot_controllers.yaml
@@ -8,13 +8,15 @@ controller_manager:
 
 whole_body_controller:
     ros__parameters:
+        udpate_rate: 1000
         control_mode: velocity
         command_interfaces: ["position"]
+        state_interfaces: ["position"]
         task_names: ["ee_pose"]
         joint_weights: [1.0,1.0,1.0,1.0,1.0,1.0,1.0]
         robot_model:
             file: install/wbc_ros/share/wbc_ros/models/urdf/iiwa.urdf
-            type: rbdl
+            type: pinocchio
         tasks:
             ee_pose:
                 type: cart
diff --git a/test/simple_launch.test.py b/test/simple_launch.test.py
index d553bee..37791aa 100644
--- a/test/simple_launch.test.py
+++ b/test/simple_launch.test.py
@@ -33,6 +33,11 @@ def generate_test_description():
 		             parameters=[robot_description,robot_controllers],
                      arguments=['--ros-args', '--log-level', 'fatal']
                 ),
+                launch_ros.actions.Node(
+		             package='robot_state_publisher', namespace='/', executable='robot_state_publisher',
+		             parameters=[robot_description],
+                     arguments=['--ros-args', '--log-level', 'fatal']
+                ),                
                 launch_ros.actions.Node(
 		             package='controller_manager', namespace='/', executable='spawner',
                      arguments=['whole_body_controller', '--controller-manager', ['/', 'controller_manager']],