diff --git a/darwin_apps/launch/all_clients_sim.launch b/darwin_apps/launch/all_clients_sim.launch
index c79c47a795be9b3019172583fa84c734d8c112e9..6704a70bc7e2fb5b88770ef6c6037ca3bf14f3b2 100644
--- a/darwin_apps/launch/all_clients_sim.launch
+++ b/darwin_apps/launch/all_clients_sim.launch
@@ -29,11 +29,11 @@
         type="joints_client"
         output="screen"
         ns="/darwin">
-    <remap from="/darwin/joints_client/joint_trajectory_action"
+    <remap from="/darwin/joint_trajectory/joint_trajectory_action"
              to="/darwin/robot/joint_trajectory"/>
-    <remap from="/darwin/joints_client/set_servo_modules"
+    <remap from="/darwin/joint_trajectory/set_servo_modules"
              to="/darwin/robot/set_servo_modules"/>
-    <remap from="/joints_client/joint_states"
+    <remap from="/joint_trajectory/joint_states"
              to="/darwin/joint_states"/>
   </node>
 
diff --git a/darwin_apps/launch/head_tracking_client_sim.launch b/darwin_apps/launch/head_tracking_client_sim.launch
index 569ce7f0ce5886a0f6824ea17490cacc1b0997ba..7a6f20923f9d46f4559886ee8cb8f670aea58870 100644
--- a/darwin_apps/launch/head_tracking_client_sim.launch
+++ b/darwin_apps/launch/head_tracking_client_sim.launch
@@ -12,9 +12,9 @@
         type="head_tracking_client"
         output="screen"
         ns="/darwin">
-    <remap from="/head_tracking_client/head_tracking_action"
+    <remap from="/darwin/head_tracking_client/head_tracking_action"
              to="/darwin/robot/head_follow_target"/>
-    <remap from="/darwin/head_tracking_client/head_target"
+    <remap from="/head_tracking_client/head_target"
              to="/darwin/robot/head_target"/>
     <remap from="/darwin/head_tracking_client/set_servo_modules"
              to="/darwin/robot/set_servo_modules"/>
diff --git a/darwin_apps/launch/joint_trajectory_client_sim.launch b/darwin_apps/launch/joint_trajectory_client_sim.launch
index 8b4f1b2aa732c9b7d5a7551bc655d4177dd57910..05ec16f7574920a697f7bf71482aeecd6e8d42b9 100644
--- a/darwin_apps/launch/joint_trajectory_client_sim.launch
+++ b/darwin_apps/launch/joint_trajectory_client_sim.launch
@@ -12,11 +12,11 @@
         type="joints_client"
         output="screen"
         ns="/darwin">
-    <remap from="/darwin/joints_client/joint_trajectory_action"
+    <remap from="/darwin/joint_trajectory/joint_trajectory_action"
              to="/darwin/robot/joint_trajectory"/>
-    <remap from="/darwin/joints_client/set_servo_modules"
+    <remap from="/darwin/joint_trajectory/set_servo_modules"
              to="/darwin/robot/set_servo_modules"/>
-    <remap from="/darwin/joints_client/joint_states"
+    <remap from="/joint_trajectory/joint_states"
              to="/darwin/joint_states"/>
   </node>
 
diff --git a/darwin_apps/launch/walk_client_sim.launch b/darwin_apps/launch/walk_client_sim.launch
index fd66f924bcfc3206dc044874b8fa8e48e74ddd5f..16e47a033687821589b5aec737eb2378f43a6dbd 100644
--- a/darwin_apps/launch/walk_client_sim.launch
+++ b/darwin_apps/launch/walk_client_sim.launch
@@ -29,7 +29,7 @@
     <param name="FOOT_HEIGHT"         value="0.04"/>
     <param name="MAX_VEL"             value="0.01"/>
     <param name="MAX_ROT_VEL"         value="0.01"/>
-    <remap from="/darwin/walk_client/cmd_vel"
+    <remap from="/walk_client/cmd_vel"
              to="/darwin/robot/cmd_vel"/>
     <remap from="/darwin/walk_client/set_walk_params"
              to="/darwin/robot/set_walk_params"/>
@@ -37,9 +37,9 @@
              to="/darwin/robot/get_walk_params"/>
     <remap from="/darwin/walk_client/set_servo_modules"
              to="/darwin/robot/set_servo_modules"/>
-    <remap from="/darwin/walk_client/joint_states"
+    <remap from="/walk_client/joint_states"
              to="/darwin/joint_states"/>
-    <remap from="/darwin/walk_client/fallen_state"
+    <remap from="/walk_client/fallen_state"
              to="/darwin/robot/fallen_state"/>
   </node>