diff --git a/lbr_demos/lbr_demos_ros2_control_cpp/src/joint_trajectory_executioner_node.cpp b/lbr_demos/lbr_demos_ros2_control_cpp/src/joint_trajectory_executioner_node.cpp
index bcb646bf..444d5a47 100644
--- a/lbr_demos/lbr_demos_ros2_control_cpp/src/joint_trajectory_executioner_node.cpp
+++ b/lbr_demos/lbr_demos_ros2_control_cpp/src/joint_trajectory_executioner_node.cpp
@@ -16,7 +16,7 @@ class LBRJointTrajectoryExecutionerNode : public rclcpp::Node {
 
     joint_trajectory_action_client_ =
         rclcpp_action::create_client<control_msgs::action::FollowJointTrajectory>(
-            this, "/position_trajectory_controller/follow_joint_trajectory");
+            this, "/lbr/position_trajectory_controller/follow_joint_trajectory");
 
     while (!joint_trajectory_action_client_->wait_for_action_server(std::chrono::seconds(1))) {
       RCLCPP_INFO(this->get_logger(), "Waiting for action server to become available...");
@@ -24,7 +24,7 @@ class LBRJointTrajectoryExecutionerNode : public rclcpp::Node {
     RCLCPP_INFO(this->get_logger(), "Action server available.");
   };
 
-  void execute(const std::vector<double> &positions, const int32_t &sec_from_start = 10) {
+  void execute(const std::vector<double> &positions, const int32_t &sec_from_start = 15) {
     if (positions.size() != KUKA::FRI::LBRState::NUMBER_OF_JOINTS) {
       RCLCPP_ERROR(this->get_logger(), "Invalid number of joint positions.");
       return;
diff --git a/lbr_demos/lbr_demos_ros2_control_python/lbr_demos_ros2_control_python/joint_trajectory_executioner_node.py b/lbr_demos/lbr_demos_ros2_control_python/lbr_demos_ros2_control_python/joint_trajectory_executioner_node.py
index ca479514..bccef79f 100644
--- a/lbr_demos/lbr_demos_ros2_control_python/lbr_demos_ros2_control_python/joint_trajectory_executioner_node.py
+++ b/lbr_demos/lbr_demos_ros2_control_python/lbr_demos_ros2_control_python/joint_trajectory_executioner_node.py
@@ -14,13 +14,13 @@ def __init__(
         self.joint_trajectory_action_client_ = ActionClient(
             node=self,
             action_type=FollowJointTrajectory,
-            action_name="/position_trajectory_controller/follow_joint_trajectory",
+            action_name="/lbr/position_trajectory_controller/follow_joint_trajectory",
         )
         while not self.joint_trajectory_action_client_.wait_for_server(1):
             self.get_logger().info("Waiting for action server to become available...")
         self.get_logger().info("Action server available.")
 
-    def execute(self, positions: list, sec_from_start: int = 10):
+    def execute(self, positions: list, sec_from_start: int = 15):
         if len(positions) != 7:
             self.get_logger().error("Invalid number of joint positions.")
             return