diff --git a/integrationtests/demo_tests/mavros_offboard_posctl_test.py b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
index 533d9ad3c3..14c7d6c19d 100755
--- a/integrationtests/demo_tests/mavros_offboard_posctl_test.py
+++ b/integrationtests/demo_tests/mavros_offboard_posctl_test.py
@@ -55,11 +55,11 @@ class OffboardPosctlTest(unittest.TestCase):
 
     def setUp(self):
         rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('px4_multicopter/mavros/cmd/arming', 30)
-        rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
-        rospy.Subscriber("px4_multicopter/mavros/position/local", PoseStamped, self.position_callback)
-        self.pubSpt = rospy.Publisher('px4_multicopter/mavros/setpoint/local_position', PoseStamped, queue_size=10)
-        self.cmdArm = rospy.ServiceProxy("px4_multicopter/mavros/cmd/arming", CommandBool)
+        rospy.wait_for_service('mavros/cmd/arming', 30)
+        rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
+        rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
+        self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10)
+        self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
         self.rate = rospy.Rate(10) # 10hz
         self.rateSec = rospy.Rate(1)
         self.hasPos = False
diff --git a/launch/mavros_sitl.launch b/launch/mavros_sitl.launch
index 582fdaa7d2..40010a2735 100644
--- a/launch/mavros_sitl.launch
+++ b/launch/mavros_sitl.launch
@@ -2,22 +2,20 @@
 	<!-- vim: set ft=xml noet : -->
 	<!-- example launch script for PX4 based FCU's -->
 
-	<group ns="px4_multicopter">
-		<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
-		<arg name="gcs_url" default="" />
-		<arg name="tgt_system" default="1" />
-		<arg name="tgt_component" default="50" />
+	<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
+	<arg name="gcs_url" default="" />
+	<arg name="tgt_system" default="1" />
+	<arg name="tgt_component" default="50" />
 
-		<param name="mavros/setpoint/attitude/listen_twist" type="bool" value="false" />
+	<param name="mavros/setpoint/attitude/listen_twist" type="bool" value="false" />
 
-		<include file="$(find mavros)/launch/node.launch">
-			<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
-			<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
+	<include file="$(find mavros)/launch/node.launch">
+		<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
+		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
 
-			<arg name="fcu_url" value="$(arg fcu_url)" />
-			<arg name="gcs_url" value="$(arg gcs_url)" />
-			<arg name="tgt_system" value="$(arg tgt_system)" />
-			<arg name="tgt_component" value="$(arg tgt_component)" />
-		</include>
-	</group>
+		<arg name="fcu_url" value="$(arg fcu_url)" />
+		<arg name="gcs_url" value="$(arg gcs_url)" />
+		<arg name="tgt_system" value="$(arg tgt_system)" />
+		<arg name="tgt_component" value="$(arg tgt_component)" />
+	</include>
 </launch>