diff --git a/examples/iiqka_moveit_example/launch/multi_robot_startup.launch.py b/examples/iiqka_moveit_example/launch/multi_robot_startup.launch.py
index 86d973c7..defb8aa4 100644
--- a/examples/iiqka_moveit_example/launch/multi_robot_startup.launch.py
+++ b/examples/iiqka_moveit_example/launch/multi_robot_startup.launch.py
@@ -36,9 +36,6 @@ def generate_launch_description():
                 launch_arguments={
                     "namespace": "test1",
                     "controller_config": f"{test_config_dir + 'test1_ros2_controller_config.yaml'}",  # noqa: E501
-                    "jtc_config": f"{test_config_dir + 'test1_joint_trajectory_controller_config.yaml'}",  # noqa: E501
-                    "jic_config": f"{test_config_dir + 'test1_joint_impedance_controller_config.yaml'}",  # noqa: E501
-                    "ec_config": f"{test_config_dir + 'test1_effort_controller_config.yaml'}",
                     "rviz_config": f"{get_package_share_directory('iiqka_moveit_example') + '/config/multi_robot.rviz'}",  # noqa: E501
                 }.items(),
             ),
@@ -53,9 +50,6 @@ def generate_launch_description():
                 launch_arguments={
                     "namespace": "test2",
                     "controller_config": f"{test_config_dir + 'test2_ros2_controller_config.yaml'}",  # noqa: E501
-                    "jtc_config": f"{test_config_dir + 'test2_joint_trajectory_controller_config.yaml'}",  # noqa: E501
-                    "jic_config": f"{test_config_dir + 'test2_joint_impedance_controller_config.yaml'}",  # noqa: E501
-                    "ec_config": f"{test_config_dir + 'test2_effort_controller_config.yaml'}",
                     "robot_model": "lbr_iisy11_r1300",
                     "x": "2",
                 }.items(),
diff --git a/kuka_iiqka_eac_driver/config/effort_controller_config.yaml b/kuka_iiqka_eac_driver/config/effort_controller_config.yaml
index 504c4f38..05611374 100644
--- a/kuka_iiqka_eac_driver/config/effort_controller_config.yaml
+++ b/kuka_iiqka_eac_driver/config/effort_controller_config.yaml
@@ -1,4 +1,4 @@
-effort_controller:
+/**/effort_controller:
   ros__parameters:
     joints:
     - joint_1
diff --git a/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml b/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml
index 725bf41b..fca405f5 100644
--- a/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml
+++ b/kuka_iiqka_eac_driver/config/joint_impedance_controller_config.yaml
@@ -1,4 +1,4 @@
-joint_group_impedance_controller:
+/**/joint_group_impedance_controller:
   ros__parameters:
     joints:
     - joint_1
diff --git a/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml b/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml
index 0462493d..60ea0a26 100644
--- a/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml
+++ b/kuka_iiqka_eac_driver/config/joint_trajectory_controller_config.yaml
@@ -1,4 +1,4 @@
-joint_trajectory_controller:
+/**/joint_trajectory_controller:
   ros__parameters:
     joints:
     - joint_1
diff --git a/kuka_iiqka_eac_driver/launch/startup.launch.py b/kuka_iiqka_eac_driver/launch/startup.launch.py
index a4f344ce..bcb5e175 100644
--- a/kuka_iiqka_eac_driver/launch/startup.launch.py
+++ b/kuka_iiqka_eac_driver/launch/startup.launch.py
@@ -104,7 +104,7 @@ def launch_setup(context, *args, **kwargs):
         get_package_share_directory("kuka_iiqka_eac_driver") + "/config/driver_config.yaml"
     )
 
-    controller_manager_node = ns.perform(context) + "/controller_manager"
+    controller_manager_node = "controller_manager"
 
     control_node = Node(
         namespace=ns,
diff --git a/kuka_iiqka_eac_driver/test/config/test1_ros2_controller_config.yaml b/kuka_iiqka_eac_driver/test/config/test1_ros2_controller_config.yaml
index 734d4428..7c363547 100644
--- a/kuka_iiqka_eac_driver/test/config/test1_ros2_controller_config.yaml
+++ b/kuka_iiqka_eac_driver/test/config/test1_ros2_controller_config.yaml
@@ -9,7 +9,7 @@ test1/controller_manager:
     joint_group_impedance_controller:
       type: kuka_controllers/JointGroupImpedanceController
     effort_controller:
-      type: effort_controllers/JointGroupPositionController
+      type: effort_controllers/JointGroupEffortController
     control_mode_handler:
       type: kuka_controllers/ControlModeHandler
     event_broadcaster:
diff --git a/kuka_iiqka_eac_driver/test/config/test2_ros2_controller_config.yaml b/kuka_iiqka_eac_driver/test/config/test2_ros2_controller_config.yaml
index 1231fa8b..64f945c7 100644
--- a/kuka_iiqka_eac_driver/test/config/test2_ros2_controller_config.yaml
+++ b/kuka_iiqka_eac_driver/test/config/test2_ros2_controller_config.yaml
@@ -9,7 +9,7 @@ test2/controller_manager:
     joint_group_impedance_controller:
       type: kuka_controllers/JointGroupImpedanceController
     effort_controller:
-      type: effort_controllers/JointGroupPositionController
+      type: effort_controllers/JointGroupEffortController
     control_mode_handler:
       type: kuka_controllers/ControlModeHandler
     event_broadcaster: