diff --git a/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml b/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml
index c2bef96d6..973035d93 100644
--- a/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml
+++ b/example_15/bringup/config/multi_controller_manager_rrbot_1_controllers.yaml
@@ -6,7 +6,7 @@
       type: joint_state_broadcaster/JointStateBroadcaster
 
 
-forward_position_controller:
+/rrbot_1/forward_position_controller:
   ros__parameters:
     type: forward_command_controller/ForwardCommandController
     joints:
@@ -15,7 +15,7 @@ forward_position_controller:
     interface_name: position
 
 
-position_trajectory_controller:
+/rrbot_1/position_trajectory_controller:
   ros__parameters:
     type: joint_trajectory_controller/JointTrajectoryController
     joints:
diff --git a/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml b/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml
index 964e4248a..9738c6ae2 100644
--- a/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml
+++ b/example_15/bringup/config/multi_controller_manager_rrbot_2_controllers.yaml
@@ -6,7 +6,7 @@
       type: joint_state_broadcaster/JointStateBroadcaster
 
 
-forward_position_controller:
+/rrbot_2/forward_position_controller:
   ros__parameters:
     type: forward_command_controller/ForwardCommandController
     joints:
@@ -15,7 +15,7 @@ forward_position_controller:
     interface_name: position
 
 
-position_trajectory_controller:
+/rrbot_2/position_trajectory_controller:
   ros__parameters:
     type: joint_trajectory_controller/JointTrajectoryController
     joints:
diff --git a/example_15/bringup/config/rrbot_namespace_controllers.yaml b/example_15/bringup/config/rrbot_namespace_controllers.yaml
index c4acc6761..9bd3ced29 100644
--- a/example_15/bringup/config/rrbot_namespace_controllers.yaml
+++ b/example_15/bringup/config/rrbot_namespace_controllers.yaml
@@ -6,7 +6,7 @@
       type: joint_state_broadcaster/JointStateBroadcaster
 
 
-forward_position_controller:
+/rrbot/forward_position_controller:
   ros__parameters:
     type: forward_command_controller/ForwardCommandController
     joints:
@@ -15,7 +15,7 @@ forward_position_controller:
     interface_name: position
 
 
-position_trajectory_controller:
+/rrbot/position_trajectory_controller:
   ros__parameters:
     type: joint_trajectory_controller/JointTrajectoryController
     joints: