diff --git a/launch/dummy-cell_ads-table.launch b/launch/dummy-cell_ads-table.launch
index d73c4d07317d1746f3e6c5adacb58c69c1e0d88c..6a4409d37995c061f3be1a1130ef49e89a1e91ab 100644
--- a/launch/dummy-cell_ads-table.launch
+++ b/launch/dummy-cell_ads-table.launch
@@ -2,7 +2,7 @@
 
     <arg name="connection_address" default="tcp://*:6576"/>
 
-    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ads_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>
diff --git a/launch/dummy-cell_ceti-table.launch b/launch/dummy-cell_ceti-table.launch
index a53069b20606ed24873f414ecf622a315afe0dff..f52b78e279e784613b784a702e6649c3a57b7af4 100644
--- a/launch/dummy-cell_ceti-table.launch
+++ b/launch/dummy-cell_ceti-table.launch
@@ -2,7 +2,7 @@
 
     <arg name="connection_address" default="tcp://*:6576"/>
 
-    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="ceti_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
     </node>
diff --git a/launch/dummy-cell_st-table.launch b/launch/dummy-cell_st-table.launch
index bf815517cecd44190ea6ae66e726fbaa8eb3d1d5..28e1aadfad4cb24bbb658bb13e001a8811e0b1db 100644
--- a/launch/dummy-cell_st-table.launch
+++ b/launch/dummy-cell_st-table.launch
@@ -2,7 +2,7 @@
 
     <arg name="connection_address" default="tcp://*:6576"/>
 
-    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="st-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="dummy_sorting_controller" name="st_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>
diff --git a/launch/main_controller_virtual-table.launch b/launch/main_controller_virtual-table.launch
index 936bc7cb014831cfd0d870e8179dac73869cb24a..eca80651f74f8809fefa8c12767e567e4f83438a 100644
--- a/launch/main_controller_virtual-table.launch
+++ b/launch/main_controller_virtual-table.launch
@@ -1,12 +1,14 @@
 <launch>
 
     <arg name="connection_address" default="tcp://*:6576"/>
-    <arg name="client_controllers" default="['ads-cell', 'st-cell', 'ceti-cell']"/>
+    <arg name="mqtt_server" default="tcp://127.0.0.1:1883"/>
+    <arg name="client_controllers" default="['ceti_cell']"/>
 
 
     <node pkg="ccf_immersive_sorting" type="main_controller" name="main_controller" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="client_controllers" type="yaml" value="$(arg client_controllers)"/>
+        <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_virtual-table.json"/>
     </node>
 
diff --git a/launch/robot-cell_ads-table.launch b/launch/robot-cell_ads-table.launch
index 5065cc7fba01949fde55fd9eb2cf61c6e873d0b1..b57fc69fd2cf3b1bb14c021a090141e6d498465d 100644
--- a/launch/robot-cell_ads-table.launch
+++ b/launch/robot-cell_ads-table.launch
@@ -8,7 +8,7 @@
         <arg name="load_gripper" value="$(arg load_gripper)"/>
     </include>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>
diff --git a/launch/robot-cell_ceti-table.launch b/launch/robot-cell_ceti-table.launch
index a2eb31c14b512e4c727912e3f70841b782598a19..2c9faac39480b095d40cfc9a6aa290ef2d035473 100644
--- a/launch/robot-cell_ceti-table.launch
+++ b/launch/robot-cell_ceti-table.launch
@@ -8,7 +8,7 @@
         <arg name="load_gripper" value="$(arg load_gripper)"/>
     </include>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
     </node>
diff --git a/launch/robot-cell_st-table.launch b/launch/robot-cell_st-table.launch
index b6a9e739ff1ff42e481ac92628e227ef4cb4752a..b0467146a4398f12f1472002d74c439bff477d88 100644
--- a/launch/robot-cell_st-table.launch
+++ b/launch/robot-cell_st-table.launch
@@ -8,7 +8,7 @@
         <arg name="load_gripper" value="$(arg load_gripper)"/>
     </include>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>
diff --git a/launch/simulated-cell_ads-table.launch b/launch/simulated-cell_ads-table.launch
index 7e34f0269d0434e165fb04e1faa53099dd9f9e14..3c639f084469fb7967c006df6819879d9f43d71b 100644
--- a/launch/simulated-cell_ads-table.launch
+++ b/launch/simulated-cell_ads-table.launch
@@ -4,7 +4,7 @@
 
     <include file="$(find ccf)/launch/simulation_setup.launch"/>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ads_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ads-table.json"/>
     </node>
diff --git a/launch/simulated-cell_ceti-table.launch b/launch/simulated-cell_ceti-table.launch
index ca6b923c617f94a9bb9a451baea49217605561e8..f507f38dfa2e4d401c79ec1594f7e901da28a5e0 100644
--- a/launch/simulated-cell_ceti-table.launch
+++ b/launch/simulated-cell_ceti-table.launch
@@ -4,7 +4,7 @@
 
     <include file="$(find ccf)/launch/simulation_setup.launch"/>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_ceti-table.json"/>
     </node>
diff --git a/launch/simulated-cell_st-table.launch b/launch/simulated-cell_st-table.launch
index 25563d72ecabefc90b0f86faa9a36cf2878635c2..4cbe2bba4fc6c3edc576e1920758dc11279d43e2 100644
--- a/launch/simulated-cell_st-table.launch
+++ b/launch/simulated-cell_st-table.launch
@@ -4,7 +4,7 @@
 
     <include file="$(find ccf)/launch/simulation_setup.launch"/>
 
-    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st-cell" output="screen">
+    <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="st_cell" output="screen">
         <param name="connection_address" type="string" value="$(arg connection_address)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_st-table.json"/>
     </node>