diff --git a/launch/ardrone.launch b/launch/ardrone.launch
index 3173e7cf1a..809eab2924 100644
--- a/launch/ardrone.launch
+++ b/launch/ardrone.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter_x.launch" />
+<include file="$(find px4)/launch/multicopter_x.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="MPC_XY_P" type="double" value="1.0" />
 	<param name="MPC_XY_FF" type="double" value="0.0" />
 	<param name="MPC_XY_VEL_P" type="double" value="0.01" />
diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index 22bfb0c799..122a27867d 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="false"/>
-    <arg name="log_file" default="ardrone"/>
+    <arg name="ns" default="ardrone"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/ardrone_empty_world_with_joy.launch">
+    <include file="$(find rotors_gazebo)/launch/ardrone_empty_world.launch">
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="enable_logging" value="$(arg enable_logging)" />
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/ardrone.launch" />
+    <include file="$(find px4)/launch/ardrone.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
index 717244abf5..596496194a 100644
--- a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
+++ b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch
@@ -1,9 +1,12 @@
-
 <launch>
+<arg name="ns" default="ardrone"/>
 
-<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
+<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 <include file="$(find px4)/launch/mavros_sitl.launch" />
-
-<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
+<group ns="$(arg ns)">
+	<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/>
+</group>
 
 </launch>
diff --git a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
index 9ff7f7d1fa..46f427f936 100644
--- a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
+++ b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch
@@ -1,9 +1,12 @@
-
 <launch>
+<arg name="ns" default="ardrone"/>
 
-<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
+<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 <include file="$(find px4)/launch/mavros_sitl.launch" />
-
-<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
+<group ns="$(arg ns)">
+	<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/>
+</group>
 
 </launch>
diff --git a/launch/gazebo_ardrone_house_world.launch b/launch/gazebo_ardrone_house_world.launch
index c636868eb2..89f27c901f 100644
--- a/launch/gazebo_ardrone_house_world.launch
+++ b/launch/gazebo_ardrone_house_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="ardrone"/>
+    <arg name="ns" default="ardrone"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/ardrone_house_world_with_joy.launch">
+    <include file="$(find rotors_gazebo)/launch/ardrone_house_world.launch">
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="enable_logging" value="$(arg enable_logging)" />
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/ardrone.launch" />
+    <include file="$(find px4)/launch/ardrone.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_empty_world.launch b/launch/gazebo_iris_empty_world.launch
index 8a4c128b90..0e80208e67 100644
--- a/launch/gazebo_iris_empty_world.launch
+++ b/launch/gazebo_iris_empty_world.launch
@@ -4,15 +4,18 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
-    <include file="$(find rotors_gazebo)/launch/iris_empty_world_with_joy.launch">
+    <include file="$(find rotors_gazebo)/launch/iris_empty_world.launch">
         <arg name="headless" value="$(arg headless)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="enable_logging" value="$(arg enable_logging)" />
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_house_world.launch b/launch/gazebo_iris_house_world.launch
index e4f9f6532c..d0e824d4b5 100644
--- a/launch/gazebo_iris_house_world.launch
+++ b/launch/gazebo_iris_house_world.launch
@@ -4,7 +4,8 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
     <include file="$(find rotors_gazebo)/launch/iris_house_world_with_joy.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -13,6 +14,8 @@
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/gazebo_iris_outdoor_world.launch b/launch/gazebo_iris_outdoor_world.launch
index 22d55502d3..e75e57b877 100644
--- a/launch/gazebo_iris_outdoor_world.launch
+++ b/launch/gazebo_iris_outdoor_world.launch
@@ -4,7 +4,8 @@
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
     <arg name="enable_ground_truth" default="true"/>
-    <arg name="log_file" default="iris"/>
+    <arg name="ns" default="iris"/>
+    <arg name="log_file" default="$(arg ns)"/>
 
     <include file="$(find rotors_gazebo)/launch/iris_outdoor_world_with_joy.launch">
         <arg name="headless" value="$(arg headless)"/>
@@ -13,6 +14,8 @@
         <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
         <arg name="log_file" value="$(arg log_file)"/>
     </include>
-    <include file="$(find px4)/launch/iris.launch" />
+    <include file="$(find px4)/launch/iris.launch">
+	<arg name="ns" value="$(arg ns)"/>
+    </include>
 
 </launch>
diff --git a/launch/iris.launch b/launch/iris.launch
index be33cb85f4..fb9c0e6976 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter_w.launch" />
+<include file="$(find px4)/launch/multicopter_w.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="i" />
 	<param name="MPC_XY_P" type="double" value="1.0" />
 	<param name="MPC_XY_FF" type="double" value="0.0" />
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index bc0e377715..6882f24137 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -1,6 +1,7 @@
 <launch>
+<arg name="ns"/>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<node pkg="joy" name="joy_node" type="joy_node"/>
 	<node pkg="px4" name="manual_input" type="manual_input"/>
 	<node pkg="px4" name="commander" type="commander"/>
diff --git a/launch/multicopter_w.launch b/launch/multicopter_w.launch
index f124082aa9..66c30d186f 100644
--- a/launch/multicopter_w.launch
+++ b/launch/multicopter_w.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="w" />
 </group>
 
diff --git a/launch/multicopter_x.launch b/launch/multicopter_x.launch
index 6355b87be9..c686eba390 100644
--- a/launch/multicopter_x.launch
+++ b/launch/multicopter_x.launch
@@ -1,8 +1,11 @@
 <launch>
+<arg name="ns"/>
 
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter.launch">
+	<arg name="ns" value="$(arg ns)"/>
+</include>
 
-<group ns="px4_multicopter">
+<group ns="$(arg ns)">
 	<param name="mixer" type="string" value="x" />
 </group>
 
diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
index 1098ec73b0..9b48294b64 100644
--- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
@@ -40,7 +40,7 @@
 #include <ros/ros.h>
 #include <px4.h>
 #include <lib/mathlib/mathlib.h>
-#include <mav_msgs/MotorSpeed.h>
+#include <mav_msgs/CommandMotorSpeed.h>
 #include <string>
 
 class MultirotorMixer
@@ -129,7 +129,7 @@ MultirotorMixer::MultirotorMixer():
 	_rotors(_config_index[0])
 {
 	_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
-	_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);
+	_pub = _n.advertise<mav_msgs::CommandMotorSpeed>("command/motor_speed", 10);
 
 	if (!_n.hasParam("motor_scaling_radps")) {
 		_n.setParam("motor_scaling_radps", 150.0);
@@ -237,7 +237,7 @@ void MultirotorMixer::actuatorControlsCallback(const px4::actuator_controls_0 &m
 	mix();
 
 	// publish message
-	mav_msgs::MotorSpeed rotor_vel_msg;
+	mav_msgs::CommandMotorSpeed rotor_vel_msg;
 	double scaling;
 	double offset;
 	_n.getParamCached("motor_scaling_radps", scaling);