diff --git a/launch/tiago_play_motion_bt_client.launch b/launch/tiago_play_motion_bt_client.launch
index 385897bb284947e5f65f2971a1ecc03bab1336c1..126fa6bcb7ff20b90753005327616df35dd1f23f 100644
--- a/launch/tiago_play_motion_bt_client.launch
+++ b/launch/tiago_play_motion_bt_client.launch
@@ -1,15 +1,18 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-
+  <arg name="node_name" 	 default="tiago_play_motion_client" />
+  <arg name="output" 		 default="screen" />
+  <arg name="launch_prefix" 	 default="" />
   <arg name="tree_path"          default="$(find tiago_play_motion_module)/src/xml" />
   <arg name="tree_file"          default="bt_test" />
   <arg name="bt_client_rate"     default="10" />
 
   <!-- launch the play motion client node -->
-  <node name="tiago_play_motion_client"
+  <node name="$(arg node_name)"
         pkg="tiago_play_motion_module"
         type="tiago_play_motion_bt_client"
-        output="screen"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)"
         ns="/tiago">
     <remap from="~/tiago_play_motion_module/play_motion"
              to="/play_motion"/>
diff --git a/launch/tiago_play_motion_bt_client_sim.launch b/launch/tiago_play_motion_bt_client_sim.launch
index 2010ebebe7dc22b6ed5b11febe956f0cf74dad11..1c94bd5c8614ca2963dcf99f0f22362061ccd2b1 100644
--- a/launch/tiago_play_motion_bt_client_sim.launch
+++ b/launch/tiago_play_motion_bt_client_sim.launch
@@ -1,6 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-
+  <arg name="node_name" 	 default="tiago_play_motion_client" />
+  <arg name="output" 	 	 default="screen" />
+  <arg name="launch_prefix" 	 default="" />
   <arg name="tree_path"          default="$(find tiago_play_motion_module)/src/xml" />
   <arg name="tree_file"          default="bt_test" />
   <arg name="bt_client_rate"     default="10" />
@@ -11,9 +13,12 @@
   </include>
 
   <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_bt_client.launch">
-    <arg name="tree_path"       value="$(arg tree_path)"/>
-    <arg name="tree_file"       value="$(arg tree_file)"/>
-    <arg name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+    <arg name="node_name"                  value="$(arg node_name)" />
+    <arg name="output"                     value="$(arg output)" />
+    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
+    <arg name="tree_path"       	   value="$(arg tree_path)"/>
+    <arg name="tree_file"       	   value="$(arg tree_file)"/>
+    <arg name="bt_client_rate"  	   value="$(arg bt_client_rate)"/>
   </include>
 
 </launch>
diff --git a/launch/tiago_play_motion_client.launch b/launch/tiago_play_motion_client.launch
index 2e191e503b18b2ac9523a85d63ac85acb094385d..db49769e3a12703d16ae752056d8edb85f7a46ad 100644
--- a/launch/tiago_play_motion_client.launch
+++ b/launch/tiago_play_motion_client.launch
@@ -1,11 +1,15 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+  <arg name="node_name" 	 default="tiago_play_motion_client" />
+  <arg name="output" 	 	 default="screen" />
+  <arg name="launch_prefix" 	 default="" />
 
   <!-- launch the play motion client node -->
-  <node name="tiago_play_motion_client"
+  <node name="$(arg node_name)"
         pkg="tiago_play_motion_module"
         type="tiago_play_motion_client"
-        output="screen"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)"
         ns="/tiago">
     <remap from="~/play_motion_module/play_motion"
              to="/play_motion"/>
diff --git a/launch/tiago_play_motion_client_sim.launch b/launch/tiago_play_motion_client_sim.launch
index 5ddfe129ba45ad6a09c92391a10ea2d4f08efaca..654988d34a7762537875ad7aeae6d247046ee1c2 100644
--- a/launch/tiago_play_motion_client_sim.launch
+++ b/launch/tiago_play_motion_client_sim.launch
@@ -1,12 +1,19 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+  <arg name="node_name" 	 default="tiago_play_motion_client" />
+  <arg name="output" 	 	 default="screen" />
+  <arg name="launch_prefix" 	 default="" />
 
   <include file="$(find tiago_gazebo)/launch/tiago_gazebo.launch">
     <arg name="public_sim" value="true" />
     <arg name="robot" value="steel" />
   </include>
 
-  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_client.launch"/>
+  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_client.launch">
+    <arg name="node_name"                  value="$(arg node_name)" />
+    <arg name="output"                     value="$(arg output)" />
+    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
+  </include>
 
 </launch>