diff --git a/meshes/collision/L_Link5.stl b/meshes/collision/L_Link5.stl
index 642c0a9..a497e7e 100644
Binary files a/meshes/collision/L_Link5.stl and b/meshes/collision/L_Link5.stl differ
diff --git a/sciurus17_description/robot_description_loader.py b/sciurus17_description/robot_description_loader.py
index 9f87fd5..b5c3e9b 100755
--- a/sciurus17_description/robot_description_loader.py
+++ b/sciurus17_description/robot_description_loader.py
@@ -14,10 +14,14 @@ def __init__(self):
             'urdf',
             'sciurus17.urdf.xacro')
         self.use_gazebo = 'false'
+        self.gz_control_config_package = ''
+        self.gz_control_config_file_path = ''
 
     def load(self):
         return Command([
                 'xacro ',
                 self.robot_description_path,
-                ' use_gazebo:=', self.use_gazebo
+                ' use_gazebo:=', self.use_gazebo,
+                ' gz_control_config_package:=', self.gz_control_config_package,
+                ' gz_control_config_file_path:=', self.gz_control_config_file_path
                 ])
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
index 447c193..4608614 100644
--- a/test/test_robot_description_loader.py
+++ b/test/test_robot_description_loader.py
@@ -28,7 +28,9 @@ def test_change_description_path():
 
 
 def test_use_gazebo():
-    # use_gazeboが変更され、xacroにgazeboタグがセットされることを期待
+    # use_gazeboが変更され、xacroにign_ros2_controlがセットされることを期待
     rdl = RobotDescriptionLoader()
     rdl.use_gazebo = 'true'
-    assert '<gazebo' in exec_load(rdl)
+    rdl.gz_control_config_package = 'sciurus17_description'
+    rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
+    assert 'ign_ros2_control/IgnitionSystem' in exec_load(rdl)
diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro
new file mode 100644
index 0000000..8bfeafe
--- /dev/null
+++ b/urdf/sciurus17.gazebo_ros2_control.xacro
@@ -0,0 +1,259 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="sciurus17_gazebo_ros2_control_settings">
+
+    <ros2_control name="sciurus17" type="system">
+      <hardware>
+        <plugin>ign_ros2_control/IgnitionSystem</plugin>
+      </hardware>
+
+      <joint name="${NAME_JOINT_BODY}">
+        <command_interface name="position">
+          <param name="min">${NAME_JOINT_BODY_LOWER_LIMIT}</param>
+          <param name="max">${NAME_JOINT_BODY_UPPER_LIMIT}</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_NECK_1}">
+        <command_interface name="position">
+          <param name="min">${JOINT_NECK_1_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_NECK_1_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_NECK_2}">
+        <command_interface name="position">
+          <param name="min">${JOINT_NECK_2_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_NECK_2_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_R_1}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_R_1_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_R_1_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_R_2}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_R_2_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_R_2_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">-1.5707</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_R_3}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_R_3_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_R_3_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_R_4}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_R_4_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_R_4_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">2.7262</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_R_5}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_R_5_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_R_5_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_R_6}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_R_6_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_R_6_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">-2.0943</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_R_7}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_R_7_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_R_7_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_HAND_R_A}">
+        <command_interface name="position">
+          <param name="min">${JOINT_HAND_R_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_HAND_R_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_HAND_R_B}">
+        <param name="mimic">${NAME_JOINT_HAND_R_A}</param>
+        <param name="multiplier">1</param>
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_L_1}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_L_1_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_L_1_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_L_2}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_L_2_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_L_2_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">1.5707</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_L_3}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_L_3_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_L_3_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_L_4}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_L_4_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_L_4_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">-2.7262</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_L_5}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_L_5_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_L_5_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_L_6}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_L_6_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_L_6_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">2.09439</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_ARM_L_7}">
+        <command_interface name="position">
+          <param name="min">${JOINT_ARM_L_7_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_ARM_L_7_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_HAND_L_A}">
+        <command_interface name="position">
+          <param name="min">${JOINT_HAND_L_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_HAND_L_UPPER_LIMIT}"</param>
+        </command_interface>
+        <state_interface name="position">
+          <param name="initial_value">0.0</param>
+        </state_interface>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+      <joint name="${NAME_JOINT_HAND_L_B}">
+        <param name="mimic">${NAME_JOINT_HAND_L_A}</param>
+        <param name="multiplier">1</param>
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+        <state_interface name="effort"/>
+      </joint>
+
+    </ros2_control>
+  </xacro:macro>
+</robot>
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index c37f304..678e1dc 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -14,8 +14,13 @@
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_arm.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_hand.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_gazebo.xacro"/>
+  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17.gazebo_ros2_control.xacro"/>
 
   <xacro:arg name="use_gazebo" default="false" />
+  <xacro:arg name="gz_control_config_package" default="" />
+  <xacro:arg name="gz_control_config_file_path" default="" />
+  <xacro:property name="GZ_CONTROL_CONFIG_PACKAGE" value="$(arg gz_control_config_package)"/>
+  <xacro:property name="GZ_CONTROL_CONFIG_FILE_PATH" value="$(arg gz_control_config_file_path)"/>
 
   <material name="white">
     <color rgba="0.9 0.9 0.9 1.0"/>
@@ -104,7 +109,9 @@
   <xacro:property name="JOINT_ARM_R_2_UPPER_LIMIT" value="${radians(0)}"/>
   <xacro:property name="JOINT_ARM_R_3_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_R_3_UPPER_LIMIT" value="${radians(90)}"/>
-  <xacro:property name="JOINT_ARM_R_4_LOWER_LIMIT" value="${radians(0)}"/>
+  <!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
+  <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
+  <xacro:property name="JOINT_ARM_R_4_LOWER_LIMIT" value="${radians(-0.01)}"/>
   <xacro:property name="JOINT_ARM_R_4_UPPER_LIMIT" value="${radians(157)}"/>
   <xacro:property name="JOINT_ARM_R_5_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_R_5_UPPER_LIMIT" value="${radians(90)}"/>
@@ -112,7 +119,9 @@
   <xacro:property name="JOINT_ARM_R_6_UPPER_LIMIT" value="${radians(60)}"/>
   <xacro:property name="JOINT_ARM_R_7_LOWER_LIMIT" value="${radians(-170)}"/>
   <xacro:property name="JOINT_ARM_R_7_UPPER_LIMIT" value="${radians(170)}"/>
-  <xacro:property name="JOINT_HAND_R_LOWER_LIMIT" value="${radians(0)}"/>
+  <!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
+  <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
+  <xacro:property name="JOINT_HAND_R_LOWER_LIMIT" value="${radians(-0.01)}"/>
   <xacro:property name="JOINT_HAND_R_UPPER_LIMIT" value="${radians(86)}"/>
 
   <xacro:property name="JOINT_ARM_L_1_LOWER_LIMIT" value="${radians(-90)}"/>
@@ -122,7 +131,9 @@
   <xacro:property name="JOINT_ARM_L_3_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_L_3_UPPER_LIMIT" value="${radians(90)}"/>
   <xacro:property name="JOINT_ARM_L_4_LOWER_LIMIT" value="${radians(-157)}"/>
-  <xacro:property name="JOINT_ARM_L_4_UPPER_LIMIT" value="${radians(0)}"/>
+  <!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
+  <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
+  <xacro:property name="JOINT_ARM_L_4_UPPER_LIMIT" value="${radians(0.01)}"/>
   <xacro:property name="JOINT_ARM_L_5_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_L_5_UPPER_LIMIT" value="${radians(90)}"/>
   <xacro:property name="JOINT_ARM_L_6_LOWER_LIMIT" value="${radians(-60)}"/>
@@ -130,7 +141,9 @@
   <xacro:property name="JOINT_ARM_L_7_LOWER_LIMIT" value="${radians(-170)}"/>
   <xacro:property name="JOINT_ARM_L_7_UPPER_LIMIT" value="${radians(170)}"/>
   <xacro:property name="JOINT_HAND_L_LOWER_LIMIT" value="${radians(-86)}"/>
-  <xacro:property name="JOINT_HAND_L_UPPER_LIMIT" value="${radians(0)}"/>
+  <!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
+  <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
+  <xacro:property name="JOINT_HAND_L_UPPER_LIMIT" value="${radians(0.01)}"/>
 
   <xacro:property name="COLOR_LINK_BASE" value="white"/>
   <xacro:property name="COLOR_LINK_BODY" value="white"/>
@@ -160,6 +173,10 @@
   <xacro:sciurus17_left_hand/>
 
   <xacro:if value="$(arg use_gazebo)">
+
     <xacro:gazebo_robot_settings/>
+
+    <xacro:sciurus17_gazebo_ros2_control_settings/>
+
   </xacro:if>
 </robot>
diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
index 3393116..d333095 100644
--- a/urdf/sciurus17_gazebo.xacro
+++ b/urdf/sciurus17_gazebo.xacro
@@ -30,6 +30,11 @@
   </xacro:macro>
 
   <xacro:macro name="gazebo_robot_settings">
+    <gazebo>
+      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+        <parameters>$(find ${GZ_CONTROL_CONFIG_PACKAGE})/${GZ_CONTROL_CONFIG_FILE_PATH}</parameters>
+      </plugin>
+    </gazebo>
 
     <gazebo reference="${NAME_LINK_BASE}">
       <xacro:material_gazebo_white/>
diff --git a/urdf/sciurus17_left_hand.xacro b/urdf/sciurus17_left_hand.xacro
index adf3f34..363782f 100644
--- a/urdf/sciurus17_left_hand.xacro
+++ b/urdf/sciurus17_left_hand.xacro
@@ -59,6 +59,15 @@
       </inertial>
     </link>
 
+    <!--Dummy joint/link to prevent error with mimic joint
+    See https://github.com/ros-controls/gazebo_ros2_control/issues/173
+    -->
+    <joint name="${NAME_JOINT_HAND_L_B}_mimic" type="fixed">
+      <parent link="world" />
+      <child link="dummy_mimic_fix_l" />
+    </joint>
+    <link name="dummy_mimic_fix_l"/>
+
     <joint name="${NAME_JOINT_HAND_L_B}" type="revolute">
       <parent link="${NAME_LINK_ARM_L_7}" />
       <child link="${NAME_LINK_HAND_L_B}" />
diff --git a/urdf/sciurus17_right_hand.xacro b/urdf/sciurus17_right_hand.xacro
index ee4fb70..f06588d 100644
--- a/urdf/sciurus17_right_hand.xacro
+++ b/urdf/sciurus17_right_hand.xacro
@@ -60,6 +60,15 @@
       </inertial>
     </link>
 
+    <!--Dummy joint/link to prevent error with mimic joint
+    See https://github.com/ros-controls/gazebo_ros2_control/issues/173
+    -->
+    <joint name="${NAME_JOINT_HAND_R_B}_mimic" type="fixed">
+      <parent link="world" />
+      <child link="dummy_mimic_fix_r" />
+    </joint>
+    <link name="dummy_mimic_fix_r"/>
+
     <joint name="${NAME_JOINT_HAND_R_B}" type="revolute">
       <parent link="${NAME_LINK_ARM_R_7}" />
       <child link="${NAME_LINK_HAND_R_B}" />