diff --git a/franka_example_controllers/config/franka_example_controllers.yaml b/franka_example_controllers/config/franka_example_controllers.yaml
index b6ffea56a858873c31f77a9faf76ccef9595b5f0..47fbc9d762a478b9c37b81bd0fdcb2566e05753a 100644
--- a/franka_example_controllers/config/franka_example_controllers.yaml
+++ b/franka_example_controllers/config/franka_example_controllers.yaml
@@ -1,14 +1,32 @@
 joint_velocity_example_controller:
     type: franka_example_controllers/JointVelocityExampleController
+    joint_names:
+        - panda_joint1
+        - panda_joint2
+        - panda_joint3
+        - panda_joint4
+        - panda_joint5
+        - panda_joint6
+        - panda_joint7
 
 joint_position_example_controller:
     type: franka_example_controllers/JointPositionExampleController
+    joint_names:
+        - panda_joint1
+        - panda_joint2
+        - panda_joint3
+        - panda_joint4
+        - panda_joint5
+        - panda_joint6
+        - panda_joint7
 
 cartesian_pose_example_controller:
     type: franka_example_controllers/CartesianPoseExampleController
+    arm_id: panda
 
 cartesian_velocity_example_controller:
     type: franka_example_controllers/CartesianVelocityExampleController
+    arm_id: panda
 
 model_example_controller:
     type: franka_example_controllers/ModelExampleController
@@ -56,7 +74,7 @@ joint_impedance_example_controller:
     radius: 0.1
     acceleration_time: 2.0
     vel_max: 0.15
-    publish_rate: 10.0    
+    publish_rate: 10.0
     coriolis_factor: 1.0
 
 cartesian_impedance_example_controller:
diff --git a/franka_example_controllers/include/franka_example_controllers/joint_position_example_controller.h b/franka_example_controllers/include/franka_example_controllers/joint_position_example_controller.h
index daf4c4d81cb7d66ee7f4412d4202e4839452fa9f..b4e252b88d16505bb008731e4f9749b111c802f0 100644
--- a/franka_example_controllers/include/franka_example_controllers/joint_position_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/joint_position_example_controller.h
@@ -18,8 +18,7 @@ class JointPositionExampleController : public controller_interface::MultiInterfa
                                            hardware_interface::PositionJointInterface> {
  public:
   bool init(hardware_interface::RobotHW* robot_hardware,
-            ros::NodeHandle& root_node_handle,
-            ros::NodeHandle& /* controller_node_handle */) override;
+            ros::NodeHandle& node_handle) override;
   void starting(const ros::Time&) override;
   void update(const ros::Time&, const ros::Duration& period) override;
 
diff --git a/franka_example_controllers/include/franka_example_controllers/joint_velocity_example_controller.h b/franka_example_controllers/include/franka_example_controllers/joint_velocity_example_controller.h
index 1c36f4a971c7a92f58bd184e7a26bc0ad3a34a73..a09580a4944710c92e2eaf8bf7635c69d519d156 100644
--- a/franka_example_controllers/include/franka_example_controllers/joint_velocity_example_controller.h
+++ b/franka_example_controllers/include/franka_example_controllers/joint_velocity_example_controller.h
@@ -19,8 +19,7 @@ class JointVelocityExampleController : public controller_interface::MultiInterfa
                                            franka_hw::FrankaStateInterface> {
  public:
   bool init(hardware_interface::RobotHW* robot_hardware,
-            ros::NodeHandle& root_node_handle,
-            ros::NodeHandle& /* controller_node_handle */) override;
+            ros::NodeHandle& node_handle) override;
   void update(const ros::Time&, const ros::Duration& period) override;
   void starting(const ros::Time&) override;
   void stopping(const ros::Time&) override;
diff --git a/franka_example_controllers/launch/cartesian_impedance_example_controller.launch b/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
index a1417a072444683c39a080d544f7d480a0d6c196..871c1b3fa8b2f2f635046133b2a63537be5948a3 100644
--- a/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
@@ -1,18 +1,17 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" default="robot.franka.de" />
-  <arg name="arm_id" value="panda" />
   <arg name="load_gripper" default="true" />
   <include file="$(find franka_control)/launch/franka_control.launch" >
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
-  <group ns="$(arg arm_id)">
-    <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_impedance_example_controller"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz"/>
-    <node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen" />
-    <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
-  </group>
+
+  <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="cartesian_impedance_example_controller"/>
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz"/>
+  <node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen">
+    <param name="link_name" value="panda_link0" />
+  </node>
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
 </launch>
diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
index ddc2184e303c2e78c77d9427664fd77471a96c11..4f2973e81d1db4ee1293a1291e1c34b45aaa21be 100644
--- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
@@ -1,16 +1,13 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" default="robot.franka.de" />
-  <arg name="arm_id" value="panda" />
   <arg name="load_gripper" default="true" />
   <include file="$(find franka_control)/launch/franka_control.launch" >
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
-  <group ns="$(arg arm_id)">
-    <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
-  </group>
+
+  <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller"/>
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
 </launch>
diff --git a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
index e1df8cda955ea91ac9039aaeaa03be94ba3b5662..d4a657973311d6ccb4dafdb6fabc0ab58026f810 100644
--- a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
@@ -1,16 +1,13 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" default="robot.franka.de" />
-  <arg name="arm_id" value="panda" />
   <arg name="load_gripper" default="true" />
   <include file="$(find franka_control)/launch/franka_control.launch" >
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
-  <group ns="$(arg arm_id)">
-    <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
-  </group>
+
+  <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller"/>
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
 </launch>
diff --git a/franka_example_controllers/launch/force_example_controller.launch b/franka_example_controllers/launch/force_example_controller.launch
index 0187bbda9c8e5f501cab2865a6a4f69a9e73e652..37525c725e95d56f38619cc6905ecfa7294385b6 100644
--- a/franka_example_controllers/launch/force_example_controller.launch
+++ b/franka_example_controllers/launch/force_example_controller.launch
@@ -1,17 +1,14 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" default="robot.franka.de" />
-  <arg name="arm_id" value="panda" />
   <arg name="load_gripper" default="true" />
   <include file="$(find franka_control)/launch/franka_control.launch" >
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
-  <group ns="$(arg arm_id)">
-    <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="force_example_controller"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
-    <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
-  </group>
+
+  <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="force_example_controller"/>
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
 </launch>
diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch
index 310789644061dd75835a0bb3083f557d6c590d5e..a9ce4169854978ecc21e89b05e82dbb52734bf97 100644
--- a/franka_example_controllers/launch/joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch
@@ -1,16 +1,13 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" default="robot.franka.de" />
-  <arg name="arm_id" value="panda" />
   <arg name="load_gripper" default="true" />
   <include file="$(find franka_control)/launch/franka_control.launch" >
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
-  <group ns="$(arg arm_id)">
-    <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
-  </group>
+
+  <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller"/>
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
 </launch>
diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch
index f68b812fd0f15632c725d6966f7eed466f96bc42..96193d79d4a719616016ee157f2447c58986fb12 100644
--- a/franka_example_controllers/launch/joint_position_example_controller.launch
+++ b/franka_example_controllers/launch/joint_position_example_controller.launch
@@ -1,16 +1,13 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" default="robot.franka.de" />
-  <arg name="arm_id" value="panda" />
   <arg name="load_gripper" default="true" />
   <include file="$(find franka_control)/launch/franka_control.launch" >
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
-  <group ns="$(arg arm_id)">
-    <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
-  </group>
+
+  <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller"/>
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
 </launch>
diff --git a/franka_example_controllers/launch/joint_velocity_example_controller.launch b/franka_example_controllers/launch/joint_velocity_example_controller.launch
index ed8925f19d5cd321226ece8a08261642912aeaed..9353effdf9bb2f6334262d21acfe680a89e2b37c 100644
--- a/franka_example_controllers/launch/joint_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/joint_velocity_example_controller.launch
@@ -1,16 +1,13 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" default="robot.franka.de" />
-  <arg name="arm_id" value="panda" />
   <arg name="load_gripper" default="true" />
   <include file="$(find franka_control)/launch/franka_control.launch" >
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
-  <group ns="$(arg arm_id)">
-    <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
-  </group>
+
+  <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller"/>
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
 </launch>
diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch
index e7475bdc480adac14f423c07015af6eb268dc772..9b354709b3a50a7ac044a0216b971d4bf750837c 100644
--- a/franka_example_controllers/launch/model_example_controller.launch
+++ b/franka_example_controllers/launch/model_example_controller.launch
@@ -1,16 +1,13 @@
 <?xml version="1.0" ?>
 <launch>
   <arg name="robot_ip" default="robot.franka.de" />
-  <arg name="arm_id" value="panda" />
   <arg name="load_gripper" default="true" />
   <include file="$(find franka_control)/launch/franka_control.launch" >
     <arg name="robot_ip" value="$(arg robot_ip)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="load_gripper" value="$(arg load_gripper)" />
   </include>
-  <group ns="$(arg arm_id)">
-    <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
-  </group>
+
+  <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller"/>
+  <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
 </launch>
diff --git a/franka_example_controllers/launch/rviz/franka_description_with_marker.rviz b/franka_example_controllers/launch/rviz/franka_description_with_marker.rviz
index d48a6db40c95fd1f65ee86e4d899bcb51bbe987c..eacde2590ab8a775a6658cbf0f6a4b96a105031f 100644
--- a/franka_example_controllers/launch/rviz/franka_description_with_marker.rviz
+++ b/franka_example_controllers/launch/rviz/franka_description_with_marker.rviz
@@ -115,7 +115,7 @@ Visualization Manager:
       Show Axes: false
       Show Descriptions: true
       Show Visual Aids: false
-      Update Topic: /panda/equilibrium_pose_marker/update
+      Update Topic: /equilibrium_pose_marker/update
       Value: true
   Enabled: true
   Global Options:
diff --git a/franka_example_controllers/scripts/interactive_marker.py b/franka_example_controllers/scripts/interactive_marker.py
index 379a7cadd5705b42cdd13f8c3485127292dfbc7b..376ac1803d1bf5655ff2db9b825baffecd1b4d81 100755
--- a/franka_example_controllers/scripts/interactive_marker.py
+++ b/franka_example_controllers/scripts/interactive_marker.py
@@ -18,8 +18,8 @@ pose_pub = None
 position_limits = [[-0.6, 0.6], [-0.6, 0.6], [0.05, 0.9]]
 
 
-def publisherCallback(msg, arm_id):
-    marker_pose.header.frame_id = arm_id + "_link0"
+def publisherCallback(msg, link_name):
+    marker_pose.header.frame_id = link_name
     marker_pose.header.stamp = rospy.Time(0)
     pose_pub.publish(marker_pose)
 
@@ -61,7 +61,7 @@ if __name__ == "__main__":
     state_sub = rospy.Subscriber("franka_state_controller/franka_states",
                                  FrankaState, franka_state_callback)
     listener = tf.TransformListener()
-    arm_id = rospy.get_param("arm_id")
+    link_name = rospy.get_param("~link_name")
 
     # Get initial pose for the interactive marker
     while not initial_pose_found:
@@ -69,10 +69,10 @@ if __name__ == "__main__":
     state_sub.unregister()
 
     pose_pub = rospy.Publisher(
-        "/equilibrium_pose", PoseStamped, queue_size=10)
+        "equilibrium_pose", PoseStamped, queue_size=10)
     server = InteractiveMarkerServer("equilibrium_pose_marker")
     int_marker = InteractiveMarker()
-    int_marker.header.frame_id = arm_id + "_link0"
+    int_marker.header.frame_id = link_name
     int_marker.scale = 0.3
     int_marker.name = "equilibrium_pose"
     int_marker.description = ("Equilibrium Pose\nBE CAREFUL! "
@@ -82,7 +82,7 @@ if __name__ == "__main__":
     int_marker.pose = marker_pose.pose
     # run pose publisher
     rospy.Timer(rospy.Duration(0.005),
-                lambda msg: publisherCallback(msg, arm_id))
+                lambda msg: publisherCallback(msg, link_name))
 
     # insert a box
     control = InteractiveMarkerControl()
diff --git a/franka_example_controllers/src/joint_position_example_controller.cpp b/franka_example_controllers/src/joint_position_example_controller.cpp
index b630014a099080be6107eb61861f1e18ca2cc9da..3ba12b8d80072bc1de24d83c334ed3d23115507f 100644
--- a/franka_example_controllers/src/joint_position_example_controller.cpp
+++ b/franka_example_controllers/src/joint_position_example_controller.cpp
@@ -13,8 +13,7 @@
 namespace franka_example_controllers {
 
 bool JointPositionExampleController::init(hardware_interface::RobotHW* robot_hardware,
-                                          ros::NodeHandle& root_node_handle,
-                                          ros::NodeHandle& /* controller_node_handle */) {
+                                          ros::NodeHandle& node_handle) {
   position_joint_interface_ = robot_hardware->get<hardware_interface::PositionJointInterface>();
   if (position_joint_interface_ == nullptr) {
     ROS_ERROR(
@@ -22,7 +21,7 @@ bool JointPositionExampleController::init(hardware_interface::RobotHW* robot_har
     return false;
   }
   std::vector<std::string> joint_names;
-  if (!root_node_handle.getParam("joint_names", joint_names)) {
+  if (!node_handle.getParam("joint_names", joint_names)) {
     ROS_ERROR("JointPositionExampleController: Could not parse joint names");
   }
   if (joint_names.size() != 7) {
diff --git a/franka_example_controllers/src/joint_velocity_example_controller.cpp b/franka_example_controllers/src/joint_velocity_example_controller.cpp
index dbe4c235b2d75618b1c33f67fc7e30ca1d9b42f9..ad01ad6bd1a2d28a259e1fc24b73e60f159d053f 100644
--- a/franka_example_controllers/src/joint_velocity_example_controller.cpp
+++ b/franka_example_controllers/src/joint_velocity_example_controller.cpp
@@ -13,8 +13,7 @@
 namespace franka_example_controllers {
 
 bool JointVelocityExampleController::init(hardware_interface::RobotHW* robot_hardware,
-                                          ros::NodeHandle& root_node_handle,
-                                          ros::NodeHandle& /* controller_node_handle */) {
+                                          ros::NodeHandle& node_handle) {
   velocity_joint_interface_ = robot_hardware->get<hardware_interface::VelocityJointInterface>();
   if (velocity_joint_interface_ == nullptr) {
     ROS_ERROR(
@@ -22,7 +21,7 @@ bool JointVelocityExampleController::init(hardware_interface::RobotHW* robot_har
     return false;
   }
   std::vector<std::string> joint_names;
-  if (!root_node_handle.getParam("joint_names", joint_names)) {
+  if (!node_handle.getParam("joint_names", joint_names)) {
     ROS_ERROR("JointVelocityExampleController: Could not parse joint names");
   }
   if (joint_names.size() != 7) {
@@ -41,12 +40,6 @@ bool JointVelocityExampleController::init(hardware_interface::RobotHW* robot_har
     }
   }
 
-  std::string arm_id;
-  if (!root_node_handle.getParam("arm_id", arm_id)) {
-    ROS_ERROR("JointVelocityExampleController: Could not get parameter arm_id");
-    return false;
-  }
-
   auto state_interface = robot_hardware->get<franka_hw::FrankaStateInterface>();
   if (state_interface == nullptr) {
     ROS_ERROR("JointVelocityExampleController: Could not get state interface from hardware");
@@ -54,7 +47,7 @@ bool JointVelocityExampleController::init(hardware_interface::RobotHW* robot_har
   }
 
   try {
-    auto state_handle = state_interface->getHandle(arm_id + "_robot");
+    auto state_handle = state_interface->getHandle("panda_robot");
 
     std::array<double, 7> q_start{{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
     for (size_t i = 0; i < q_start.size(); i++) {