diff --git a/lbr_description/urdf/iiwa14/iiwa14_description.xacro b/lbr_description/urdf/iiwa14/iiwa14_description.xacro
index fde51896..cc0fbc64 100644
--- a/lbr_description/urdf/iiwa14/iiwa14_description.xacro
+++ b/lbr_description/urdf/iiwa14/iiwa14_description.xacro
@@ -285,7 +285,7 @@
             </collision>
         </link>
 
-        <joint name="joint_ee" type="fixed">
+        <joint name="${robot_name}_joint_ee" type="fixed">
             <parent link="${robot_name}_link_7" />
             <child link="${robot_name}_link_ee" />
             <origin xyz="0 0 0.035" rpy="0 0 0" />
diff --git a/lbr_description/urdf/iiwa7/iiwa7_description.xacro b/lbr_description/urdf/iiwa7/iiwa7_description.xacro
index e9bfaa1e..65374c44 100644
--- a/lbr_description/urdf/iiwa7/iiwa7_description.xacro
+++ b/lbr_description/urdf/iiwa7/iiwa7_description.xacro
@@ -286,7 +286,7 @@
             </collision>
         </link>
 
-        <joint name="joint_ee" type="fixed">
+        <joint name="${robot_name}_joint_ee" type="fixed">
             <parent link="${robot_name}_link_7" />
             <child link="${robot_name}_link_ee" />
             <origin xyz="0 0 0.035" rpy="0 0 0" />
diff --git a/lbr_description/urdf/med14/med14_description.xacro b/lbr_description/urdf/med14/med14_description.xacro
index 6a5e5a27..b5f55d5f 100644
--- a/lbr_description/urdf/med14/med14_description.xacro
+++ b/lbr_description/urdf/med14/med14_description.xacro
@@ -286,7 +286,7 @@
             </collision>
         </link>
 
-        <joint name="joint_ee" type="fixed">
+        <joint name="${robot_name}_joint_ee" type="fixed">
             <parent link="${robot_name}_link_7" />
             <child link="${robot_name}_link_ee" />
             <origin xyz="0 0 0.035" rpy="0 0 0" />
diff --git a/lbr_description/urdf/med7/med7_description.xacro b/lbr_description/urdf/med7/med7_description.xacro
index 1b9998f8..344fc4f7 100644
--- a/lbr_description/urdf/med7/med7_description.xacro
+++ b/lbr_description/urdf/med7/med7_description.xacro
@@ -286,7 +286,7 @@
             </collision>
         </link>
 
-        <joint name="joint_ee" type="fixed">
+        <joint name="${robot_name}_joint_ee" type="fixed">
             <parent link="${robot_name}_link_7" />
             <child link="${robot_name}_link_ee" />
             <origin xyz="0 0 0.035" rpy="0 0 0" />