From 9b65978581a84d19cb82c0b99b06a89da42a372b Mon Sep 17 00:00:00 2001
From: mhubii <m.huber_1994@hotmail.de>
Date: Sat, 19 Oct 2024 14:46:01 +0100
Subject: [PATCH] robot name prefix in config files (#189)

---
 lbr_bringup/config/gazebo.rviz                | 20 ++---
 lbr_bringup/config/hardware.rviz              | 20 ++---
 lbr_bringup/config/mock.rviz                  | 20 ++---
 lbr_bringup/lbr_bringup/ros2_control.py       |  4 -
 lbr_description/gazebo/lbr_gazebo.xacro       | 30 +++----
 .../ros2_control/lbr_system_interface.xacro   | 14 ++--
 lbr_description/urdf/iiwa14/iiwa14.xacro      |  2 +-
 .../urdf/iiwa14/iiwa14_description.xacro      | 64 +++++++--------
 lbr_description/urdf/iiwa7/iiwa7.xacro        |  2 +-
 .../urdf/iiwa7/iiwa7_description.xacro        | 64 +++++++--------
 lbr_description/urdf/med14/med14.xacro        |  2 +-
 .../urdf/med14/med14_description.xacro        | 64 +++++++--------
 lbr_description/urdf/med7/med7.xacro          |  2 +-
 .../urdf/med7/med7_description.xacro          | 64 +++++++--------
 .../iiwa14_moveit_config/config/iiwa14.srdf   | 80 +++++++++----------
 .../config/joint_limits.yaml                  | 14 ++--
 .../iiwa14_moveit_config/config/moveit.rviz   | 36 ++++-----
 .../config/moveit_controllers.yaml            | 14 ++--
 .../iiwa7_moveit_config/config/iiwa7.srdf     | 80 +++++++++----------
 .../config/joint_limits.yaml                  | 14 ++--
 .../iiwa7_moveit_config/config/moveit.rviz    | 36 ++++-----
 .../config/moveit_controllers.yaml            | 14 ++--
 .../config/joint_limits.yaml                  | 14 ++--
 .../med14_moveit_config/config/med14.srdf     | 80 +++++++++----------
 .../med14_moveit_config/config/moveit.rviz    | 36 ++++-----
 .../config/moveit_controllers.yaml            | 14 ++--
 .../config/joint_limits.yaml                  | 14 ++--
 .../med7_moveit_config/config/med7.srdf       | 80 +++++++++----------
 .../med7_moveit_config/config/moveit.rviz     | 36 ++++-----
 .../config/moveit_controllers.yaml            | 14 ++--
 lbr_ros2_control/config/lbr_controllers.yaml  | 30 +++----
 31 files changed, 487 insertions(+), 491 deletions(-)

diff --git a/lbr_bringup/config/gazebo.rviz b/lbr_bringup/config/gazebo.rviz
index f4486f40..c45723d4 100644
--- a/lbr_bringup/config/gazebo.rviz
+++ b/lbr_bringup/config/gazebo.rviz
@@ -67,47 +67,47 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_1:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -119,7 +119,7 @@ Visualization Manager:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
diff --git a/lbr_bringup/config/hardware.rviz b/lbr_bringup/config/hardware.rviz
index b3a3df75..86a38438 100644
--- a/lbr_bringup/config/hardware.rviz
+++ b/lbr_bringup/config/hardware.rviz
@@ -68,47 +68,47 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_1:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -120,7 +120,7 @@ Visualization Manager:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
diff --git a/lbr_bringup/config/mock.rviz b/lbr_bringup/config/mock.rviz
index f4486f40..c45723d4 100644
--- a/lbr_bringup/config/mock.rviz
+++ b/lbr_bringup/config/mock.rviz
@@ -67,47 +67,47 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        link_0:
+        lbr_link_0:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_1:
+        lbr_link_1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_2:
+        lbr_link_2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_3:
+        lbr_link_3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_4:
+        lbr_link_4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_5:
+        lbr_link_5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_6:
+        lbr_link_6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_7:
+        lbr_link_7:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        link_ee:
+        lbr_link_ee:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -119,7 +119,7 @@ Visualization Manager:
         Inertia: false
         Mass: false
       Name: RobotModel
-      TF Prefix: lbr
+      TF Prefix: ""
       Update Interval: 0
       Value: true
       Visual Enabled: true
diff --git a/lbr_bringup/lbr_bringup/ros2_control.py b/lbr_bringup/lbr_bringup/ros2_control.py
index a5a58627..24f01bcf 100644
--- a/lbr_bringup/lbr_bringup/ros2_control.py
+++ b/lbr_bringup/lbr_bringup/ros2_control.py
@@ -122,10 +122,6 @@ def node_robot_state_publisher(
             parameters=[
                 robot_description,
                 {"use_sim_time": use_sim_time},
-                # use robot name as frame prefix
-                {
-                    "frame_prefix": PathJoinSubstitution([robot_name, ""])
-                },  # neat hack to add trailing slash, which is required by frame_prefix
             ],
             namespace=robot_name,
             **kwargs,
diff --git a/lbr_description/gazebo/lbr_gazebo.xacro b/lbr_description/gazebo/lbr_gazebo.xacro
index 174dc306..78a833fc 100644
--- a/lbr_description/gazebo/lbr_gazebo.xacro
+++ b/lbr_description/gazebo/lbr_gazebo.xacro
@@ -29,20 +29,20 @@
         </xacro:macro>
 
         <!-- references -->
-        <xacro:gazebo_link_reference name="link_0" />
-        <xacro:gazebo_joint_reference name="A1" />
-        <xacro:gazebo_link_reference name="link_1" />
-        <xacro:gazebo_joint_reference name="A2" />
-        <xacro:gazebo_link_reference name="link_2" />
-        <xacro:gazebo_joint_reference name="A3" />
-        <xacro:gazebo_link_reference name="link_3" />
-        <xacro:gazebo_joint_reference name="A4" />
-        <xacro:gazebo_link_reference name="link_4" />
-        <xacro:gazebo_joint_reference name="A5" />
-        <xacro:gazebo_link_reference name="link_5" />
-        <xacro:gazebo_joint_reference name="A6" />
-        <xacro:gazebo_link_reference name="link_6" />
-        <xacro:gazebo_joint_reference name="A7" />
-        <xacro:gazebo_link_reference name="link_7" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_0" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A1" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_1" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A2" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_2" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A3" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_3" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A4" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_4" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A5" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_5" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A6" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_6" />
+        <xacro:gazebo_joint_reference name="${robot_name}_A7" />
+        <xacro:gazebo_link_reference name="${robot_name}_link_7" />
     </xacro:macro>
 </robot>
\ No newline at end of file
diff --git a/lbr_description/ros2_control/lbr_system_interface.xacro b/lbr_description/ros2_control/lbr_system_interface.xacro
index 833af578..9b578f7f 100644
--- a/lbr_description/ros2_control/lbr_system_interface.xacro
+++ b/lbr_description/ros2_control/lbr_system_interface.xacro
@@ -124,43 +124,43 @@
                 </joint>
             </xacro:macro>
 
-            <xacro:joint_interface name="A1"
+            <xacro:joint_interface name="${robot_name}_A1"
                 min_position="${joint_limits['A1']['lower'] * PI / 180}"
                 max_position="${joint_limits['A1']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A1']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A1']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A2"
+            <xacro:joint_interface name="${robot_name}_A2"
                 min_position="${joint_limits['A2']['lower'] * PI / 180}"
                 max_position="${joint_limits['A2']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A2']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A2']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A3"
+            <xacro:joint_interface name="${robot_name}_A3"
                 min_position="${joint_limits['A3']['lower'] * PI / 180}"
                 max_position="${joint_limits['A3']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A3']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A3']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A4"
+            <xacro:joint_interface name="${robot_name}_A4"
                 min_position="${joint_limits['A4']['lower'] * PI / 180}"
                 max_position="${joint_limits['A4']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A4']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A4']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A5"
+            <xacro:joint_interface name="${robot_name}_A5"
                 min_position="${joint_limits['A5']['lower'] * PI / 180}"
                 max_position="${joint_limits['A5']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A5']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A5']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A6"
+            <xacro:joint_interface name="${robot_name}_A6"
                 min_position="${joint_limits['A6']['lower'] * PI / 180}"
                 max_position="${joint_limits['A6']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A6']['velocity'] * PI / 180}"
                 max_torque="${joint_limits['A6']['effort']}"
                 mode="${mode}" />
-            <xacro:joint_interface name="A7"
+            <xacro:joint_interface name="${robot_name}_A7"
                 min_position="${joint_limits['A7']['lower'] * PI / 180}"
                 max_position="${joint_limits['A7']['upper'] * PI / 180}"
                 max_velocity="${joint_limits['A7']['velocity'] * PI / 180}"
diff --git a/lbr_description/urdf/iiwa14/iiwa14.xacro b/lbr_description/urdf/iiwa14/iiwa14.xacro
index b52b1578..1ff8bcc8 100644
--- a/lbr_description/urdf/iiwa14/iiwa14.xacro
+++ b/lbr_description/urdf/iiwa14/iiwa14.xacro
@@ -19,7 +19,7 @@
         between world and link_0-->
     <joint name="world_joint" type="fixed">
         <parent link="world" />
-        <child link="link_0" />
+        <child link="$(arg robot_name)_link_0" />
     </joint>
 
     <!-- iiwa -->
diff --git a/lbr_description/urdf/iiwa14/iiwa14_description.xacro b/lbr_description/urdf/iiwa14/iiwa14_description.xacro
index e53bf380..00eba77b 100644
--- a/lbr_description/urdf/iiwa14/iiwa14_description.xacro
+++ b/lbr_description/urdf/iiwa14/iiwa14_description.xacro
@@ -26,7 +26,7 @@
             joint_limits="${joint_limits}"
             system_parameters_path="${system_parameters_path}" />
 
-        <link name="link_0">
+        <link name="${robot_name}_link_0">
             <inertial>
                 <origin rpy="0 0 0" xyz="-0.012822 0.0 0.071507" />
                 <mass value="7.050378" />
@@ -47,10 +47,10 @@
             </collision>
         </link>
 
-        <joint name="A1" type="revolute">
+        <joint name="${robot_name}_A1" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0 0.1475" />
-            <parent link="link_0" />
-            <child link="link_1" />
+            <parent link="${robot_name}_link_0" />
+            <child link="${robot_name}_link_1" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A1']['effort']}"
@@ -60,7 +60,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_1">
+        <link name="${robot_name}_link_1">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.033795 0.132404" />
                 <mass value="5.289529" />
@@ -81,10 +81,10 @@
             </collision>
         </link>
 
-        <joint name="A2" type="revolute">
+        <joint name="${robot_name}_A2" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.01 0.2125" />
-            <parent link="link_1" />
-            <child link="link_2" />
+            <parent link="${robot_name}_link_1" />
+            <child link="${robot_name}_link_2" />
             <axis xyz="0.0 1.0 0.0" />
             <limit
                 effort="${joint_limits['A2']['effort']}"
@@ -94,7 +94,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_2">
+        <link name="${robot_name}_link_2">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.000136 0.047548 0.076322" />
                 <mass value="5.688888" />
@@ -115,10 +115,10 @@
             </collision>
         </link>
 
-        <joint name="A3" type="revolute">
+        <joint name="${robot_name}_A3" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.01 0.228" />
-            <parent link="link_2" />
-            <child link="link_3" />
+            <parent link="${robot_name}_link_2" />
+            <child link="${robot_name}_link_3" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A3']['effort']}"
@@ -128,7 +128,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_3">
+        <link name="${robot_name}_link_3">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 0.034913 0.123108" />
                 <mass value="3.461245" />
@@ -149,10 +149,10 @@
             </collision>
         </link>
 
-        <joint name="A4" type="revolute">
+        <joint name="${robot_name}_A4" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0105 0.192" />
-            <parent link="link_3" />
-            <child link="link_4" />
+            <parent link="${robot_name}_link_3" />
+            <child link="${robot_name}_link_4" />
             <axis xyz="0.0 -1.0 0.0" />
             <limit
                 effort="${joint_limits['A4']['effort']}"
@@ -162,7 +162,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_4">
+        <link name="${robot_name}_link_4">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.039793 0.086944" />
                 <mass value="4.122995" />
@@ -183,10 +183,10 @@
             </collision>
         </link>
 
-        <joint name="A5" type="revolute">
+        <joint name="${robot_name}_A5" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0105 0.2075" />
-            <parent link="link_4" />
-            <child link="link_5" />
+            <parent link="${robot_name}_link_4" />
+            <child link="${robot_name}_link_5" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A5']['effort']}"
@@ -196,7 +196,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_5">
+        <link name="${robot_name}_link_5">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.029824 0.076267" />
                 <mass value="1.563756" />
@@ -217,10 +217,10 @@
             </collision>
         </link>
 
-        <joint name="A6" type="revolute">
+        <joint name="${robot_name}_A6" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925" />
-            <parent link="link_5" />
-            <child link="link_6" />
+            <parent link="${robot_name}_link_5" />
+            <child link="${robot_name}_link_6" />
             <axis xyz="0.0 1.0 0.0" />
             <limit
                 effort="${joint_limits['A6']['effort']}"
@@ -230,7 +230,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_6">
+        <link name="${robot_name}_link_6">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 0.07102 0.00495" />
                 <mass value="2.457878" />
@@ -251,10 +251,10 @@
             </collision>
         </link>
 
-        <joint name="A7" type="revolute">
+        <joint name="${robot_name}_A7" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0707 0.091" />
-            <parent link="link_6" />
-            <child link="link_7" />
+            <parent link="${robot_name}_link_6" />
+            <child link="${robot_name}_link_7" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A7']['effort']}"
@@ -264,7 +264,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_7">
+        <link name="${robot_name}_link_7">
             <inertial>
                 <origin rpy="0 0 0" xyz="3.0000e-06 -2.0000e-06 1.3782e-02" />
                 <mass value="0.265331" />
@@ -285,12 +285,12 @@
         </link>
 
         <joint name="joint_ee" type="fixed">
-            <parent link="link_7" />
-            <child link="link_ee" />
+            <parent link="${robot_name}_link_7" />
+            <child link="${robot_name}_link_ee" />
             <origin xyz="0 0 0.035" rpy="0 0 0" />
         </joint>
 
-        <link name="link_ee">
+        <link name="${robot_name}_link_ee">
         </link>
     </xacro:macro>
 </robot>
\ No newline at end of file
diff --git a/lbr_description/urdf/iiwa7/iiwa7.xacro b/lbr_description/urdf/iiwa7/iiwa7.xacro
index 7f89fac7..5f0712ce 100644
--- a/lbr_description/urdf/iiwa7/iiwa7.xacro
+++ b/lbr_description/urdf/iiwa7/iiwa7.xacro
@@ -19,7 +19,7 @@
         between world and link_0-->
     <joint name="world_joint" type="fixed">
         <parent link="world" />
-        <child link="link_0" />
+        <child link="$(arg robot_name)_link_0" />
     </joint>
 
     <!-- iiwa -->
diff --git a/lbr_description/urdf/iiwa7/iiwa7_description.xacro b/lbr_description/urdf/iiwa7/iiwa7_description.xacro
index 28e99965..c9234c68 100644
--- a/lbr_description/urdf/iiwa7/iiwa7_description.xacro
+++ b/lbr_description/urdf/iiwa7/iiwa7_description.xacro
@@ -26,7 +26,7 @@
             joint_limits="${joint_limits}"
             system_parameters_path="${system_parameters_path}" />
 
-        <link name="link_0">
+        <link name="${robot_name}_link_0">
             <inertial>
                 <origin rpy="0 0 0" xyz="-0.012857 0.0 0.069964" />
                 <mass value="4.855658" />
@@ -47,10 +47,10 @@
             </collision>
         </link>
 
-        <joint name="A1" type="revolute">
+        <joint name="${robot_name}_A1" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0 0.1475" />
-            <parent link="link_0" />
-            <child link="link_1" />
+            <parent link="${robot_name}_link_0" />
+            <child link="${robot_name}_link_1" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A1']['effort']}"
@@ -60,7 +60,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_1">
+        <link name="${robot_name}_link_1">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.034819 0.123299" />
                 <mass value="3.394011" />
@@ -81,10 +81,10 @@
             </collision>
         </link>
 
-        <joint name="A2" type="revolute">
+        <joint name="${robot_name}_A2" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0105 0.1925" />
-            <parent link="link_1" />
-            <child link="link_2" />
+            <parent link="${robot_name}_link_1" />
+            <child link="${robot_name}_link_2" />
             <axis xyz="0.0 1.0 0.0" />
             <limit
                 effort="${joint_limits['A2']['effort']}"
@@ -94,7 +94,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_2">
+        <link name="${robot_name}_link_2">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 0.039793 0.086944" />
                 <mass value="4.031991" />
@@ -115,10 +115,10 @@
             </collision>
         </link>
 
-        <joint name="A3" type="revolute">
+        <joint name="${robot_name}_A3" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0105 0.2075" />
-            <parent link="link_2" />
-            <child link="link_3" />
+            <parent link="${robot_name}_link_2" />
+            <child link="${robot_name}_link_3" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A3']['effort']}"
@@ -128,7 +128,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_3">
+        <link name="${robot_name}_link_3">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 0.034819 0.123299" />
                 <mass value="3.394011" />
@@ -149,10 +149,10 @@
             </collision>
         </link>
 
-        <joint name="A4" type="revolute">
+        <joint name="${robot_name}_A4" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0105 0.1925" />
-            <parent link="link_3" />
-            <child link="link_4" />
+            <parent link="${robot_name}_link_3" />
+            <child link="${robot_name}_link_4" />
             <axis xyz="0.0 -1.0 0.0" />
             <limit
                 effort="${joint_limits['A4']['effort']}"
@@ -162,7 +162,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_4">
+        <link name="${robot_name}_link_4">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.039793 0.086944" />
                 <mass value="4.031989" />
@@ -183,10 +183,10 @@
             </collision>
         </link>
 
-        <joint name="A5" type="revolute">
+        <joint name="${robot_name}_A5" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0105 0.2075" />
-            <parent link="link_4" />
-            <child link="link_5" />
+            <parent link="${robot_name}_link_4" />
+            <child link="${robot_name}_link_5" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A5']['effort']}"
@@ -196,7 +196,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_5">
+        <link name="${robot_name}_link_5">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.029824 0.076267" />
                 <mass value="1.529239" />
@@ -217,10 +217,10 @@
             </collision>
         </link>
 
-        <joint name="A6" type="revolute">
+        <joint name="${robot_name}_A6" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925" />
-            <parent link="link_5" />
-            <child link="link_6" />
+            <parent link="${robot_name}_link_5" />
+            <child link="${robot_name}_link_6" />
             <axis xyz="0.0 1.0 0.0" />
             <limit
                 effort="${joint_limits['A6']['effort']}"
@@ -230,7 +230,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_6">
+        <link name="${robot_name}_link_6">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 0.07102 0.00495" />
                 <mass value="2.403626" />
@@ -252,10 +252,10 @@
         </link>
 
 
-        <joint name="A7" type="revolute">
+        <joint name="${robot_name}_A7" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0707 0.091" />
-            <parent link="link_6" />
-            <child link="link_7" />
+            <parent link="${robot_name}_link_6" />
+            <child link="${robot_name}_link_7" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A7']['effort']}"
@@ -265,7 +265,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_7">
+        <link name="${robot_name}_link_7">
             <inertial>
                 <origin rpy="0 0 0" xyz="3.0000e-06 -2.0000e-06 1.3782e-02" />
                 <mass value="0.259474" />
@@ -286,12 +286,12 @@
         </link>
 
         <joint name="joint_ee" type="fixed">
-            <parent link="link_7" />
-            <child link="link_ee" />
+            <parent link="${robot_name}_link_7" />
+            <child link="${robot_name}_link_ee" />
             <origin xyz="0 0 0.035" rpy="0 0 0" />
         </joint>
 
-        <link name="link_ee">
+        <link name="${robot_name}_link_ee">
         </link>
     </xacro:macro>
 </robot>
\ No newline at end of file
diff --git a/lbr_description/urdf/med14/med14.xacro b/lbr_description/urdf/med14/med14.xacro
index 9276bf37..df863a1a 100644
--- a/lbr_description/urdf/med14/med14.xacro
+++ b/lbr_description/urdf/med14/med14.xacro
@@ -19,7 +19,7 @@
         between world and link_0-->
     <joint name="world_joint" type="fixed">
         <parent link="world" />
-        <child link="link_0" />
+        <child link="$(arg robot_name)_link_0" />
     </joint>
 
     <!-- med -->
diff --git a/lbr_description/urdf/med14/med14_description.xacro b/lbr_description/urdf/med14/med14_description.xacro
index f36889d7..fd78c8da 100644
--- a/lbr_description/urdf/med14/med14_description.xacro
+++ b/lbr_description/urdf/med14/med14_description.xacro
@@ -27,7 +27,7 @@
             system_parameters_path="${system_parameters_path}" />
 
 
-        <link name="link_0">
+        <link name="${robot_name}_link_0">
             <inertial>
                 <origin rpy="0 0 0" xyz="-0.001864 0.0 0.077517" />
                 <mass value="8.146413" />
@@ -48,10 +48,10 @@
             </collision>
         </link>
 
-        <joint name="A1" type="revolute">
+        <joint name="${robot_name}_A1" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0 0.147" />
-            <parent link="link_0" />
-            <child link="link_1" />
+            <parent link="${robot_name}_link_0" />
+            <child link="${robot_name}_link_1" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A1']['effort']}"
@@ -61,7 +61,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_1">
+        <link name="${robot_name}_link_1">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.033795  0.132404" />
                 <mass value="5.591419" />
@@ -82,10 +82,10 @@
             </collision>
         </link>
 
-        <joint name="A2" type="revolute">
+        <joint name="${robot_name}_A2" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.01 0.2125" />
-            <parent link="link_1" />
-            <child link="link_2" />
+            <parent link="${robot_name}_link_1" />
+            <child link="${robot_name}_link_2" />
             <axis xyz="0.0 1.0 0.0" />
             <limit
                 effort="${joint_limits['A2']['effort']}"
@@ -95,7 +95,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_2">
+        <link name="${robot_name}_link_2">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.000136 0.047546 0.076324" />
                 <mass value="6.013411" />
@@ -116,10 +116,10 @@
             </collision>
         </link>
 
-        <joint name="A3" type="revolute">
+        <joint name="${robot_name}_A3" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.01 0.228" />
-            <parent link="link_2" />
-            <child link="link_3" />
+            <parent link="${robot_name}_link_2" />
+            <child link="${robot_name}_link_3" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A3']['effort']}"
@@ -129,7 +129,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_3">
+        <link name="${robot_name}_link_3">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 0.034913 0.123108" />
                 <mass value="3.65879" />
@@ -150,10 +150,10 @@
             </collision>
         </link>
 
-        <joint name="A4" type="revolute">
+        <joint name="${robot_name}_A4" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0105 0.192" />
-            <parent link="link_3" />
-            <child link="link_4" />
+            <parent link="${robot_name}_link_3" />
+            <child link="${robot_name}_link_4" />
             <axis xyz="0.0 -1.0 0.0" />
             <limit
                 effort="${joint_limits['A4']['effort']}"
@@ -163,7 +163,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_4">
+        <link name="${robot_name}_link_4">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.039793  0.086944" />
                 <mass value="4.358267" />
@@ -184,10 +184,10 @@
             </collision>
         </link>
 
-        <joint name="A5" type="revolute">
+        <joint name="${robot_name}_A5" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0105 0.2075" />
-            <parent link="link_4" />
-            <child link="link_5" />
+            <parent link="${robot_name}_link_4" />
+            <child link="${robot_name}_link_5" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A5']['effort']}"
@@ -197,7 +197,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_5">
+        <link name="${robot_name}_link_5">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.029824  0.076267" />
                 <mass value="1.653015" />
@@ -218,10 +218,10 @@
             </collision>
         </link>
 
-        <joint name="A6" type="revolute">
+        <joint name="${robot_name}_A6" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925" />
-            <parent link="link_5" />
-            <child link="link_6" />
+            <parent link="${robot_name}_link_5" />
+            <child link="${robot_name}_link_6" />
             <axis xyz="0.0 1.0 0.0" />
             <limit
                 effort="${joint_limits['A6']['effort']}"
@@ -231,7 +231,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_6">
+        <link name="${robot_name}_link_6">
             <inertial>
                 <origin rpy="0 0 0" xyz="-1.000e-06 7.102e-02 4.953e-03" />
                 <mass value="2.598211" />
@@ -252,10 +252,10 @@
             </collision>
         </link>
 
-        <joint name="A7" type="revolute">
+        <joint name="${robot_name}_A7" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0707 0.091" />
-            <parent link="link_6" />
-            <child link="link_7" />
+            <parent link="${robot_name}_link_6" />
+            <child link="${robot_name}_link_7" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A7']['effort']}"
@@ -265,7 +265,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_7">
+        <link name="${robot_name}_link_7">
             <inertial>
                 <origin rpy="0 0 0" xyz="3.0000e-06 -2.0000e-06 1.3782e-02" />
                 <mass value="0.280474" />
@@ -286,12 +286,12 @@
         </link>
 
         <joint name="joint_ee" type="fixed">
-            <parent link="link_7" />
-            <child link="link_ee" />
+            <parent link="${robot_name}_link_7" />
+            <child link="${robot_name}_link_ee" />
             <origin xyz="0 0 0.035" rpy="0 0 0" />
         </joint>
 
-        <link name="link_ee">
+        <link name="${robot_name}_link_ee">
         </link>
     </xacro:macro>
 </robot>
\ No newline at end of file
diff --git a/lbr_description/urdf/med7/med7.xacro b/lbr_description/urdf/med7/med7.xacro
index 15209761..01df31af 100644
--- a/lbr_description/urdf/med7/med7.xacro
+++ b/lbr_description/urdf/med7/med7.xacro
@@ -19,7 +19,7 @@
         between world and link_0-->
     <joint name="world_joint" type="fixed">
         <parent link="world" />
-        <child link="link_0" />
+        <child link="$(arg robot_name)_link_0" />
     </joint>
 
     <!-- med -->
diff --git a/lbr_description/urdf/med7/med7_description.xacro b/lbr_description/urdf/med7/med7_description.xacro
index 00144acf..d7b6abfa 100644
--- a/lbr_description/urdf/med7/med7_description.xacro
+++ b/lbr_description/urdf/med7/med7_description.xacro
@@ -27,7 +27,7 @@
             system_parameters_path="${system_parameters_path}" />
 
         <!-- properties -->
-        <link name="link_0">
+        <link name="${robot_name}_link_0">
             <inertial>
                 <origin rpy="0 0 0" xyz="-0.001896 0.0 0.076263" />
                 <mass value="7.143112" />
@@ -48,10 +48,10 @@
             </collision>
         </link>
 
-        <joint name="A1" type="revolute">
+        <joint name="${robot_name}_A1" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0 0.1475" />
-            <parent link="link_0" />
-            <child link="link_1" />
+            <parent link="${robot_name}_link_0" />
+            <child link="${robot_name}_link_1" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A1']['effort']}"
@@ -61,7 +61,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_1">
+        <link name="${robot_name}_link_1">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.034819  0.123299" />
                 <mass value="3.271499" />
@@ -82,10 +82,10 @@
             </collision>
         </link>
 
-        <joint name="A2" type="revolute">
+        <joint name="${robot_name}_A2" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0105 0.1925" />
-            <parent link="link_1" />
-            <child link="link_2" />
+            <parent link="${robot_name}_link_1" />
+            <child link="${robot_name}_link_2" />
             <axis xyz="0.0 1.0 0.0" />
             <limit
                 effort="${joint_limits['A2']['effort']}"
@@ -95,7 +95,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_2">
+        <link name="${robot_name}_link_2">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 0.039793 0.086944" />
                 <mass value="3.886413" />
@@ -116,10 +116,10 @@
             </collision>
         </link>
 
-        <joint name="A3" type="revolute">
+        <joint name="${robot_name}_A3" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0105 0.2075" />
-            <parent link="link_2" />
-            <child link="link_3" />
+            <parent link="${robot_name}_link_2" />
+            <child link="${robot_name}_link_3" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A3']['effort']}"
@@ -129,7 +129,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_3">
+        <link name="${robot_name}_link_3">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 0.034819  0.123299" />
                 <mass value="3.271499" />
@@ -150,10 +150,10 @@
             </collision>
         </link>
 
-        <joint name="A4" type="revolute">
+        <joint name="${robot_name}_A4" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0105 0.1925" />
-            <parent link="link_3" />
-            <child link="link_4" />
+            <parent link="${robot_name}_link_3" />
+            <child link="${robot_name}_link_4" />
             <axis xyz="0.0 -1.0 0.0" />
             <limit
                 effort="${joint_limits['A4']['effort']}"
@@ -163,7 +163,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_4">
+        <link name="${robot_name}_link_4">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.039793  0.086944" />
                 <mass value="3.886411" />
@@ -184,10 +184,10 @@
             </collision>
         </link>
 
-        <joint name="A5" type="revolute">
+        <joint name="${robot_name}_A5" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0105 0.2075" />
-            <parent link="link_4" />
-            <child link="link_5" />
+            <parent link="${robot_name}_link_4" />
+            <child link="${robot_name}_link_5" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A5']['effort']}"
@@ -197,7 +197,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_5">
+        <link name="${robot_name}_link_5">
             <inertial>
                 <origin rpy="0 0 0" xyz="0.0 -0.029824 0.076267" />
                 <mass value="1.474048" />
@@ -218,10 +218,10 @@
             </collision>
         </link>
 
-        <joint name="A6" type="revolute">
+        <joint name="${robot_name}_A6" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925" />
-            <parent link="link_5" />
-            <child link="link_6" />
+            <parent link="${robot_name}_link_5" />
+            <child link="${robot_name}_link_6" />
             <axis xyz="0.0 1.0 0.0" />
             <limit
                 effort="${joint_limits['A6']['effort']}"
@@ -231,7 +231,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_6">
+        <link name="${robot_name}_link_6">
             <inertial>
                 <origin rpy="0 0 0" xyz="-1.000e-06 7.102e-02 4.953e-03" />
                 <mass value="2.316911" />
@@ -252,10 +252,10 @@
             </collision>
         </link>
 
-        <joint name="A7" type="revolute">
+        <joint name="${robot_name}_A7" type="revolute">
             <origin rpy="0 0 0" xyz="0.0 0.0707 0.091" />
-            <parent link="link_6" />
-            <child link="link_7" />
+            <parent link="${robot_name}_link_6" />
+            <child link="${robot_name}_link_7" />
             <axis xyz="0.0 0.0 1.0" />
             <limit
                 effort="${joint_limits['A7']['effort']}"
@@ -265,7 +265,7 @@
             <dynamics damping="${joint_damping}" friction="${joint_friction}" />
         </joint>
 
-        <link name="link_7">
+        <link name="${robot_name}_link_7">
             <inertial>
                 <origin rpy="0 0 0" xyz="3.0000e-06 -2.0000e-06 1.3782e-02" />
                 <mass value="0.250108" />
@@ -286,12 +286,12 @@
         </link>
 
         <joint name="joint_ee" type="fixed">
-            <parent link="link_7" />
-            <child link="link_ee" />
+            <parent link="${robot_name}_link_7" />
+            <child link="${robot_name}_link_ee" />
             <origin xyz="0 0 0.035" rpy="0 0 0" />
         </joint>
 
-        <link name="link_ee">
+        <link name="${robot_name}_link_ee">
         </link>
     </xacro:macro>
 </robot>
\ No newline at end of file
diff --git a/lbr_moveit_config/iiwa14_moveit_config/config/iiwa14.srdf b/lbr_moveit_config/iiwa14_moveit_config/config/iiwa14.srdf
index f1b96afe..934159c3 100644
--- a/lbr_moveit_config/iiwa14_moveit_config/config/iiwa14.srdf
+++ b/lbr_moveit_config/iiwa14_moveit_config/config/iiwa14.srdf
@@ -10,51 +10,51 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="arm">
-        <chain base_link="link_0" tip_link="link_ee"/>
+        <chain base_link="lbr_link_0" tip_link="lbr_link_ee"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="zero" group="arm">
-        <joint name="A1" value="0"/>
-        <joint name="A2" value="0"/>
-        <joint name="A3" value="0"/>
-        <joint name="A4" value="0"/>
-        <joint name="A5" value="0"/>
-        <joint name="A6" value="0"/>
-        <joint name="A7" value="0"/>
+        <joint name="lbr_A1" value="0"/>
+        <joint name="lbr_A2" value="0"/>
+        <joint name="lbr_A3" value="0"/>
+        <joint name="lbr_A4" value="0"/>
+        <joint name="lbr_A5" value="0"/>
+        <joint name="lbr_A6" value="0"/>
+        <joint name="lbr_A7" value="0"/>
     </group_state>
     <group_state name="transport" group="arm">
-        <joint name="A1" value="0"/>
-        <joint name="A2" value="0.4363"/>
-        <joint name="A3" value="0"/>
-        <joint name="A4" value="1.5707"/>
-        <joint name="A5" value="0"/>
-        <joint name="A6" value="0"/>
-        <joint name="A7" value="0"/>
+        <joint name="lbr_A1" value="0"/>
+        <joint name="lbr_A2" value="0.4363"/>
+        <joint name="lbr_A3" value="0"/>
+        <joint name="lbr_A4" value="1.5707"/>
+        <joint name="lbr_A5" value="0"/>
+        <joint name="lbr_A6" value="0"/>
+        <joint name="lbr_A7" value="0"/>
     </group_state>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="link_0" link2="link_1" reason="Adjacent"/>
-    <disable_collisions link1="link_0" link2="link_2" reason="Never"/>
-    <disable_collisions link1="link_0" link2="link_3" reason="Never"/>
-    <disable_collisions link1="link_0" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_2" reason="Adjacent"/>
-    <disable_collisions link1="link_1" link2="link_3" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_3" reason="Adjacent"/>
-    <disable_collisions link1="link_2" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_4" reason="Adjacent"/>
-    <disable_collisions link1="link_3" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_4" link2="link_5" reason="Adjacent"/>
-    <disable_collisions link1="link_4" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_4" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/>
-    <disable_collisions link1="link_5" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_6" link2="link_7" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_1" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_2" reason="Never"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_2" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_3" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_4" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_5" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_5" link2="lbr_link_6" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_5" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_6" link2="lbr_link_7" reason="Adjacent"/>
 </robot>
diff --git a/lbr_moveit_config/iiwa14_moveit_config/config/joint_limits.yaml b/lbr_moveit_config/iiwa14_moveit_config/config/joint_limits.yaml
index ae4149e9..0ab19715 100644
--- a/lbr_moveit_config/iiwa14_moveit_config/config/joint_limits.yaml
+++ b/lbr_moveit_config/iiwa14_moveit_config/config/joint_limits.yaml
@@ -8,37 +8,37 @@ default_acceleration_scaling_factor: 0.1
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  A1:
+  lbr_A1:
     has_velocity_limits: true
     max_velocity: 1.4835298641951802
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A2:
+  lbr_A2:
     has_velocity_limits: true
     max_velocity: 1.4835298641951802
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A3:
+  lbr_A3:
     has_velocity_limits: true
     max_velocity: 1.7453292519943295
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A4:
+  lbr_A4:
     has_velocity_limits: true
     max_velocity: 1.3089969389957472
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A5:
+  lbr_A5:
     has_velocity_limits: true
     max_velocity: 2.2689280275926285
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A6:
+  lbr_A6:
     has_velocity_limits: true
     max_velocity: 2.3561944901923448
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A7:
+  lbr_A7:
     has_velocity_limits: true
     max_velocity: 2.3561944901923448
     has_acceleration_limits: true
diff --git a/lbr_moveit_config/iiwa14_moveit_config/config/moveit.rviz b/lbr_moveit_config/iiwa14_moveit_config/config/moveit.rviz
index c2cac1a0..9fea5cff 100644
--- a/lbr_moveit_config/iiwa14_moveit_config/config/moveit.rviz
+++ b/lbr_moveit_config/iiwa14_moveit_config/config/moveit.rviz
@@ -66,47 +66,47 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          link_0:
+          lbr_link_0:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_1:
+          lbr_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_2:
+          lbr_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_3:
+          lbr_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_4:
+          lbr_link_4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_5:
+          lbr_link_5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_6:
+          lbr_link_6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_7:
+          lbr_link_7:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_ee:
+          lbr_link_ee:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -160,47 +160,47 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          link_0:
+          lbr_link_0:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_1:
+          lbr_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_2:
+          lbr_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_3:
+          lbr_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_4:
+          lbr_link_4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_5:
+          lbr_link_5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_6:
+          lbr_link_6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_7:
+          lbr_link_7:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_ee:
+          lbr_link_ee:
             Alpha: 1
             Show Axes: false
             Show Trail: false
diff --git a/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml
index 15869edc..ce72820a 100644
--- a/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml
+++ b/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml
@@ -9,12 +9,12 @@ moveit_simple_controller_manager:
   joint_trajectory_controller:
     type: FollowJointTrajectory
     joints:
-      - A1
-      - A2
-      - A3
-      - A4
-      - A5
-      - A6
-      - A7
+      - lbr_A1
+      - lbr_A2
+      - lbr_A3
+      - lbr_A4
+      - lbr_A5
+      - lbr_A6
+      - lbr_A7
     action_ns: follow_joint_trajectory
     default: true
\ No newline at end of file
diff --git a/lbr_moveit_config/iiwa7_moveit_config/config/iiwa7.srdf b/lbr_moveit_config/iiwa7_moveit_config/config/iiwa7.srdf
index 37a9aa08..5ef397ba 100644
--- a/lbr_moveit_config/iiwa7_moveit_config/config/iiwa7.srdf
+++ b/lbr_moveit_config/iiwa7_moveit_config/config/iiwa7.srdf
@@ -10,51 +10,51 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="arm">
-        <chain base_link="link_0" tip_link="link_ee"/>
+        <chain base_link="lbr_link_0" tip_link="lbr_link_ee"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="zero" group="arm">
-        <joint name="A1" value="0"/>
-        <joint name="A2" value="0"/>
-        <joint name="A3" value="0"/>
-        <joint name="A4" value="0"/>
-        <joint name="A5" value="0"/>
-        <joint name="A6" value="0"/>
-        <joint name="A7" value="0"/>
+        <joint name="lbr_A1" value="0"/>
+        <joint name="lbr_A2" value="0"/>
+        <joint name="lbr_A3" value="0"/>
+        <joint name="lbr_A4" value="0"/>
+        <joint name="lbr_A5" value="0"/>
+        <joint name="lbr_A6" value="0"/>
+        <joint name="lbr_A7" value="0"/>
     </group_state>
     <group_state name="transport" group="arm">
-        <joint name="A1" value="0"/>
-        <joint name="A2" value="0.4363"/>
-        <joint name="A3" value="0"/>
-        <joint name="A4" value="1.5707"/>
-        <joint name="A5" value="0"/>
-        <joint name="A6" value="0"/>
-        <joint name="A7" value="0"/>
+        <joint name="lbr_A1" value="0"/>
+        <joint name="lbr_A2" value="0.4363"/>
+        <joint name="lbr_A3" value="0"/>
+        <joint name="lbr_A4" value="1.5707"/>
+        <joint name="lbr_A5" value="0"/>
+        <joint name="lbr_A6" value="0"/>
+        <joint name="lbr_A7" value="0"/>
     </group_state>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="link_0" link2="link_1" reason="Adjacent"/>
-    <disable_collisions link1="link_0" link2="link_2" reason="Never"/>
-    <disable_collisions link1="link_0" link2="link_3" reason="Never"/>
-    <disable_collisions link1="link_0" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_2" reason="Adjacent"/>
-    <disable_collisions link1="link_1" link2="link_3" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_3" reason="Adjacent"/>
-    <disable_collisions link1="link_2" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_4" reason="Adjacent"/>
-    <disable_collisions link1="link_3" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_4" link2="link_5" reason="Adjacent"/>
-    <disable_collisions link1="link_4" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_4" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/>
-    <disable_collisions link1="link_5" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_6" link2="link_7" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_1" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_2" reason="Never"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_2" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_3" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_4" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_5" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_5" link2="lbr_link_6" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_5" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_6" link2="lbr_link_7" reason="Adjacent"/>
 </robot>
diff --git a/lbr_moveit_config/iiwa7_moveit_config/config/joint_limits.yaml b/lbr_moveit_config/iiwa7_moveit_config/config/joint_limits.yaml
index e97eee4e..2a2bc84e 100644
--- a/lbr_moveit_config/iiwa7_moveit_config/config/joint_limits.yaml
+++ b/lbr_moveit_config/iiwa7_moveit_config/config/joint_limits.yaml
@@ -8,37 +8,37 @@ default_acceleration_scaling_factor: 0.1
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  A1:
+  lbr_A1:
     has_velocity_limits: true
     max_velocity: 1.7104226669544429
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A2:
+  lbr_A2:
     has_velocity_limits: true
     max_velocity: 1.7104226669544429
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A3:
+  lbr_A3:
     has_velocity_limits: true
     max_velocity: 1.7453292519943295
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A4:
+  lbr_A4:
     has_velocity_limits: true
     max_velocity: 2.2689280275926285
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A5:
+  lbr_A5:
     has_velocity_limits: true
     max_velocity: 2.4434609527920612
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A6:
+  lbr_A6:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A7:
+  lbr_A7:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
     has_acceleration_limits: true
diff --git a/lbr_moveit_config/iiwa7_moveit_config/config/moveit.rviz b/lbr_moveit_config/iiwa7_moveit_config/config/moveit.rviz
index c2cac1a0..9fea5cff 100644
--- a/lbr_moveit_config/iiwa7_moveit_config/config/moveit.rviz
+++ b/lbr_moveit_config/iiwa7_moveit_config/config/moveit.rviz
@@ -66,47 +66,47 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          link_0:
+          lbr_link_0:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_1:
+          lbr_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_2:
+          lbr_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_3:
+          lbr_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_4:
+          lbr_link_4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_5:
+          lbr_link_5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_6:
+          lbr_link_6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_7:
+          lbr_link_7:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_ee:
+          lbr_link_ee:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -160,47 +160,47 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          link_0:
+          lbr_link_0:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_1:
+          lbr_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_2:
+          lbr_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_3:
+          lbr_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_4:
+          lbr_link_4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_5:
+          lbr_link_5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_6:
+          lbr_link_6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_7:
+          lbr_link_7:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_ee:
+          lbr_link_ee:
             Alpha: 1
             Show Axes: false
             Show Trail: false
diff --git a/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml
index 15869edc..ce72820a 100644
--- a/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml
+++ b/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml
@@ -9,12 +9,12 @@ moveit_simple_controller_manager:
   joint_trajectory_controller:
     type: FollowJointTrajectory
     joints:
-      - A1
-      - A2
-      - A3
-      - A4
-      - A5
-      - A6
-      - A7
+      - lbr_A1
+      - lbr_A2
+      - lbr_A3
+      - lbr_A4
+      - lbr_A5
+      - lbr_A6
+      - lbr_A7
     action_ns: follow_joint_trajectory
     default: true
\ No newline at end of file
diff --git a/lbr_moveit_config/med14_moveit_config/config/joint_limits.yaml b/lbr_moveit_config/med14_moveit_config/config/joint_limits.yaml
index ae4149e9..0ab19715 100644
--- a/lbr_moveit_config/med14_moveit_config/config/joint_limits.yaml
+++ b/lbr_moveit_config/med14_moveit_config/config/joint_limits.yaml
@@ -8,37 +8,37 @@ default_acceleration_scaling_factor: 0.1
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  A1:
+  lbr_A1:
     has_velocity_limits: true
     max_velocity: 1.4835298641951802
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A2:
+  lbr_A2:
     has_velocity_limits: true
     max_velocity: 1.4835298641951802
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A3:
+  lbr_A3:
     has_velocity_limits: true
     max_velocity: 1.7453292519943295
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A4:
+  lbr_A4:
     has_velocity_limits: true
     max_velocity: 1.3089969389957472
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A5:
+  lbr_A5:
     has_velocity_limits: true
     max_velocity: 2.2689280275926285
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A6:
+  lbr_A6:
     has_velocity_limits: true
     max_velocity: 2.3561944901923448
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A7:
+  lbr_A7:
     has_velocity_limits: true
     max_velocity: 2.3561944901923448
     has_acceleration_limits: true
diff --git a/lbr_moveit_config/med14_moveit_config/config/med14.srdf b/lbr_moveit_config/med14_moveit_config/config/med14.srdf
index f5ef369c..1925c3e5 100644
--- a/lbr_moveit_config/med14_moveit_config/config/med14.srdf
+++ b/lbr_moveit_config/med14_moveit_config/config/med14.srdf
@@ -10,51 +10,51 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="arm">
-        <chain base_link="link_0" tip_link="link_ee"/>
+        <chain base_link="lbr_link_0" tip_link="lbr_link_ee"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="zero" group="arm">
-        <joint name="A1" value="0"/>
-        <joint name="A2" value="0"/>
-        <joint name="A3" value="0"/>
-        <joint name="A4" value="0"/>
-        <joint name="A5" value="0"/>
-        <joint name="A6" value="0"/>
-        <joint name="A7" value="0"/>
+        <joint name="lbr_A1" value="0"/>
+        <joint name="lbr_A2" value="0"/>
+        <joint name="lbr_A3" value="0"/>
+        <joint name="lbr_A4" value="0"/>
+        <joint name="lbr_A5" value="0"/>
+        <joint name="lbr_A6" value="0"/>
+        <joint name="lbr_A7" value="0"/>
     </group_state>
     <group_state name="transport" group="arm">
-        <joint name="A1" value="0"/>
-        <joint name="A2" value="0.4363"/>
-        <joint name="A3" value="0"/>
-        <joint name="A4" value="1.5707"/>
-        <joint name="A5" value="0"/>
-        <joint name="A6" value="0"/>
-        <joint name="A7" value="0"/>
+        <joint name="lbr_A1" value="0"/>
+        <joint name="lbr_A2" value="0.4363"/>
+        <joint name="lbr_A3" value="0"/>
+        <joint name="lbr_A4" value="1.5707"/>
+        <joint name="lbr_A5" value="0"/>
+        <joint name="lbr_A6" value="0"/>
+        <joint name="lbr_A7" value="0"/>
     </group_state>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="link_0" link2="link_1" reason="Adjacent"/>
-    <disable_collisions link1="link_0" link2="link_2" reason="Never"/>
-    <disable_collisions link1="link_0" link2="link_3" reason="Never"/>
-    <disable_collisions link1="link_0" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_2" reason="Adjacent"/>
-    <disable_collisions link1="link_1" link2="link_3" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_3" reason="Adjacent"/>
-    <disable_collisions link1="link_2" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_4" reason="Adjacent"/>
-    <disable_collisions link1="link_3" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_4" link2="link_5" reason="Adjacent"/>
-    <disable_collisions link1="link_4" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_4" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/>
-    <disable_collisions link1="link_5" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_6" link2="link_7" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_1" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_2" reason="Never"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_2" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_3" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_4" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_5" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_5" link2="lbr_link_6" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_5" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_6" link2="lbr_link_7" reason="Adjacent"/>
 </robot>
diff --git a/lbr_moveit_config/med14_moveit_config/config/moveit.rviz b/lbr_moveit_config/med14_moveit_config/config/moveit.rviz
index c2cac1a0..9fea5cff 100644
--- a/lbr_moveit_config/med14_moveit_config/config/moveit.rviz
+++ b/lbr_moveit_config/med14_moveit_config/config/moveit.rviz
@@ -66,47 +66,47 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          link_0:
+          lbr_link_0:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_1:
+          lbr_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_2:
+          lbr_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_3:
+          lbr_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_4:
+          lbr_link_4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_5:
+          lbr_link_5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_6:
+          lbr_link_6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_7:
+          lbr_link_7:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_ee:
+          lbr_link_ee:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -160,47 +160,47 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          link_0:
+          lbr_link_0:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_1:
+          lbr_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_2:
+          lbr_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_3:
+          lbr_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_4:
+          lbr_link_4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_5:
+          lbr_link_5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_6:
+          lbr_link_6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_7:
+          lbr_link_7:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_ee:
+          lbr_link_ee:
             Alpha: 1
             Show Axes: false
             Show Trail: false
diff --git a/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml
index 15869edc..ce72820a 100644
--- a/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml
+++ b/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml
@@ -9,12 +9,12 @@ moveit_simple_controller_manager:
   joint_trajectory_controller:
     type: FollowJointTrajectory
     joints:
-      - A1
-      - A2
-      - A3
-      - A4
-      - A5
-      - A6
-      - A7
+      - lbr_A1
+      - lbr_A2
+      - lbr_A3
+      - lbr_A4
+      - lbr_A5
+      - lbr_A6
+      - lbr_A7
     action_ns: follow_joint_trajectory
     default: true
\ No newline at end of file
diff --git a/lbr_moveit_config/med7_moveit_config/config/joint_limits.yaml b/lbr_moveit_config/med7_moveit_config/config/joint_limits.yaml
index e97eee4e..2a2bc84e 100644
--- a/lbr_moveit_config/med7_moveit_config/config/joint_limits.yaml
+++ b/lbr_moveit_config/med7_moveit_config/config/joint_limits.yaml
@@ -8,37 +8,37 @@ default_acceleration_scaling_factor: 0.1
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  A1:
+  lbr_A1:
     has_velocity_limits: true
     max_velocity: 1.7104226669544429
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A2:
+  lbr_A2:
     has_velocity_limits: true
     max_velocity: 1.7104226669544429
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A3:
+  lbr_A3:
     has_velocity_limits: true
     max_velocity: 1.7453292519943295
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A4:
+  lbr_A4:
     has_velocity_limits: true
     max_velocity: 2.2689280275926285
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A5:
+  lbr_A5:
     has_velocity_limits: true
     max_velocity: 2.4434609527920612
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A6:
+  lbr_A6:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
     has_acceleration_limits: true
     max_acceleration: 10.0
-  A7:
+  lbr_A7:
     has_velocity_limits: true
     max_velocity: 3.1415926535897931
     has_acceleration_limits: true
diff --git a/lbr_moveit_config/med7_moveit_config/config/med7.srdf b/lbr_moveit_config/med7_moveit_config/config/med7.srdf
index 1b4932a5..63e98c43 100644
--- a/lbr_moveit_config/med7_moveit_config/config/med7.srdf
+++ b/lbr_moveit_config/med7_moveit_config/config/med7.srdf
@@ -10,51 +10,51 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="arm">
-        <chain base_link="link_0" tip_link="link_ee"/>
+        <chain base_link="lbr_link_0" tip_link="lbr_link_ee"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="zero" group="arm">
-        <joint name="A1" value="0"/>
-        <joint name="A2" value="0"/>
-        <joint name="A3" value="0"/>
-        <joint name="A4" value="0"/>
-        <joint name="A5" value="0"/>
-        <joint name="A6" value="0"/>
-        <joint name="A7" value="0"/>
+        <joint name="lbr_A1" value="0"/>
+        <joint name="lbr_A2" value="0"/>
+        <joint name="lbr_A3" value="0"/>
+        <joint name="lbr_A4" value="0"/>
+        <joint name="lbr_A5" value="0"/>
+        <joint name="lbr_A6" value="0"/>
+        <joint name="lbr_A7" value="0"/>
     </group_state>
     <group_state name="transport" group="arm">
-        <joint name="A1" value="0"/>
-        <joint name="A2" value="0.4363"/>
-        <joint name="A3" value="0"/>
-        <joint name="A4" value="1.5707"/>
-        <joint name="A5" value="0"/>
-        <joint name="A6" value="0"/>
-        <joint name="A7" value="0"/>
+        <joint name="lbr_A1" value="0"/>
+        <joint name="lbr_A2" value="0.4363"/>
+        <joint name="lbr_A3" value="0"/>
+        <joint name="lbr_A4" value="1.5707"/>
+        <joint name="lbr_A5" value="0"/>
+        <joint name="lbr_A6" value="0"/>
+        <joint name="lbr_A7" value="0"/>
     </group_state>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="link_0" link2="link_1" reason="Adjacent"/>
-    <disable_collisions link1="link_0" link2="link_2" reason="Never"/>
-    <disable_collisions link1="link_0" link2="link_3" reason="Never"/>
-    <disable_collisions link1="link_0" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_2" reason="Adjacent"/>
-    <disable_collisions link1="link_1" link2="link_3" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_1" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_3" reason="Adjacent"/>
-    <disable_collisions link1="link_2" link2="link_4" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_2" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_4" reason="Adjacent"/>
-    <disable_collisions link1="link_3" link2="link_5" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_3" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_4" link2="link_5" reason="Adjacent"/>
-    <disable_collisions link1="link_4" link2="link_6" reason="Never"/>
-    <disable_collisions link1="link_4" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_5" link2="link_6" reason="Adjacent"/>
-    <disable_collisions link1="link_5" link2="link_7" reason="Never"/>
-    <disable_collisions link1="link_6" link2="link_7" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_1" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_2" reason="Never"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_link_0" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_2" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_1" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_3" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_2" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_4" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_3" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_5" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_link_4" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_5" link2="lbr_link_6" reason="Adjacent"/>
+    <disable_collisions link1="lbr_link_5" link2="lbr_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_link_6" link2="lbr_link_7" reason="Adjacent"/>
 </robot>
diff --git a/lbr_moveit_config/med7_moveit_config/config/moveit.rviz b/lbr_moveit_config/med7_moveit_config/config/moveit.rviz
index c2cac1a0..9fea5cff 100644
--- a/lbr_moveit_config/med7_moveit_config/config/moveit.rviz
+++ b/lbr_moveit_config/med7_moveit_config/config/moveit.rviz
@@ -66,47 +66,47 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          link_0:
+          lbr_link_0:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_1:
+          lbr_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_2:
+          lbr_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_3:
+          lbr_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_4:
+          lbr_link_4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_5:
+          lbr_link_5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_6:
+          lbr_link_6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_7:
+          lbr_link_7:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_ee:
+          lbr_link_ee:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -160,47 +160,47 @@ Visualization Manager:
           Expand Link Details: false
           Expand Tree: false
           Link Tree Style: Links in Alphabetic Order
-          link_0:
+          lbr_link_0:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_1:
+          lbr_link_1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_2:
+          lbr_link_2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_3:
+          lbr_link_3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_4:
+          lbr_link_4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_5:
+          lbr_link_5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_6:
+          lbr_link_6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_7:
+          lbr_link_7:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link_ee:
+          lbr_link_ee:
             Alpha: 1
             Show Axes: false
             Show Trail: false
diff --git a/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml
index 15869edc..ce72820a 100644
--- a/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml
+++ b/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml
@@ -9,12 +9,12 @@ moveit_simple_controller_manager:
   joint_trajectory_controller:
     type: FollowJointTrajectory
     joints:
-      - A1
-      - A2
-      - A3
-      - A4
-      - A5
-      - A6
-      - A7
+      - lbr_A1
+      - lbr_A2
+      - lbr_A3
+      - lbr_A4
+      - lbr_A5
+      - lbr_A6
+      - lbr_A7
     action_ns: follow_joint_trajectory
     default: true
\ No newline at end of file
diff --git a/lbr_ros2_control/config/lbr_controllers.yaml b/lbr_ros2_control/config/lbr_controllers.yaml
index c7939d25..f8fc7aad 100644
--- a/lbr_ros2_control/config/lbr_controllers.yaml
+++ b/lbr_ros2_control/config/lbr_controllers.yaml
@@ -38,19 +38,19 @@
 
 /**/force_torque_broadcaster:
   ros__parameters:
-    frame_id: lbr/link_ee # namespace: https://github.com/ros2/rviz/issues/1103
+    frame_id: lbr_link_ee # namespace: https://github.com/ros2/rviz/issues/1103
     sensor_name: estimated_ft_sensor
 
 /**/joint_trajectory_controller:
   ros__parameters:
     joints:
-      - A1
-      - A2
-      - A3
-      - A4
-      - A5
-      - A6
-      - A7
+      - lbr_A1
+      - lbr_A2
+      - lbr_A3
+      - lbr_A4
+      - lbr_A5
+      - lbr_A6
+      - lbr_A7
     command_interfaces:
       - position
     state_interfaces:
@@ -62,11 +62,11 @@
 /**/forward_position_controller:
   ros__parameters:
     joints:
-      - A1
-      - A2
-      - A3
-      - A4
-      - A5
-      - A6
-      - A7
+      - lbr_A1
+      - lbr_A2
+      - lbr_A3
+      - lbr_A4
+      - lbr_A5
+      - lbr_A6
+      - lbr_A7
     interface_name: position