diff --git a/franka_gazebo/launch/panda_ns.launch.xml b/franka_gazebo/launch/panda_ns.launch.xml
index 4b36a569a..09a28480b 100644
--- a/franka_gazebo/launch/panda_ns.launch.xml
+++ b/franka_gazebo/launch/panda_ns.launch.xml
@@ -43,19 +43,19 @@
           args="franka_state_controller $(arg controller)"
     />
 
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-    <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
+    <node name="$(arg arm_id)_robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+    <node name="$(arg arm_id)_joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
       <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
       <param name="rate" value="30"/>
     </node>
-    <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
+    <node name="$(arg arm_id)_joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
       <rosparam param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
       <param name="rate" value="30"/>
       <remap from="joint_states" to="joint_states_desired" />
     </node>
 
     <!-- Start only if cartesian_impedance_example_controller -->
-    <node name="interactive_marker"
+    <node name="$(arg arm_id)_cartesian_goal_marker"
           pkg="franka_example_controllers"
           type="interactive_marker.py"
           if="$(eval arg('controller') == 'cartesian_impedance_example_controller')">