diff --git a/action_client/cfg/ActionClient.cfg b/action_client/cfg/ActionClient.cfg
index 57bb83dea32f8d25af83183120ec80c5f5a04746..eaabcf8948f7b2d58043da5818a2cfb9402bf5e7 100755
--- a/action_client/cfg/ActionClient.cfg
+++ b/action_client/cfg/ActionClient.cfg
@@ -44,4 +44,4 @@ gen.add("execute_action",          bool_t,    0,                               "
 gen.add("cancel_action",           bool_t,    0,                               "Cancel current action",          False)
 
 
-exit(gen.generate(PACKAGE, "ActionClientAlgorithm", "ActionClient"))
+exit(gen.generate(PACKAGE, "ActionClient", "ActionClient"))
diff --git a/gripper_client/cfg/GripperClient.cfg b/gripper_client/cfg/GripperClient.cfg
index 777bd3a19f2d965fb579df5d08e9dc18d5c0be50..1595977a7f6c5d7092a4a27dd559958fcbb87a2a 100755
--- a/gripper_client/cfg/GripperClient.cfg
+++ b/gripper_client/cfg/GripperClient.cfg
@@ -47,4 +47,4 @@ gen.add("close_right_gripper",     bool_t,    0,                               "
 gen.add("stop_right",              bool_t,    0,                               "Stop right gripper motion",            False)
 
 
-exit(gen.generate(PACKAGE, "GripperClientAlgorithm", "GripperClient"))
+exit(gen.generate(PACKAGE, "GripperClient", "GripperClient"))
diff --git a/joints_client/cfg/JointsClient.cfg b/joints_client/cfg/JointsClient.cfg
index 107be544f2e2e6758b330ea9f8ef59b4fbcf5b74..3234ce66d968715d31dcc3493cde56403046f82a 100755
--- a/joints_client/cfg/JointsClient.cfg
+++ b/joints_client/cfg/JointsClient.cfg
@@ -46,4 +46,4 @@ gen.add("load",                    bool_t,    0,                               "
 gen.add("start",                   bool_t,    0,                               "Start servo motion",             False)
 gen.add("stop",                    bool_t,    0,                               "Stop servo motion",              False)
 
-exit(gen.generate(PACKAGE, "JointsClientAlgorithm", "JointsClient"))
+exit(gen.generate(PACKAGE, "JointsClient", "JointsClient"))
diff --git a/walk_client/cfg/WalkClient.cfg b/walk_client/cfg/WalkClient.cfg
index ef863d6d8309022e47de2e67e54c5c2989a7b2c6..7a4cf351d5ea42689c491d46c1894755f9cd77ea 100755
--- a/walk_client/cfg/WalkClient.cfg
+++ b/walk_client/cfg/WalkClient.cfg
@@ -62,4 +62,4 @@ gen.add("A_AMPLITUDE",             double_t,  0,                               "
 gen.add("start_walking",           bool_t,    0,                               "Start walking",                       False)
 gen.add("stop_walking",            bool_t,    0,                               "Stop walking",                        False)
 
-exit(gen.generate(PACKAGE, "WalkClientAlgorithm", "WalkClient"))
+exit(gen.generate(PACKAGE, "WalkClient", "WalkClient"))