diff --git a/README.md b/README.md
index e6bb1f3..b5bbd7a 100644
--- a/README.md
+++ b/README.md
@@ -241,20 +241,20 @@ Then, the arguments _x_, _y_ and _z_ selects the position respect the world fram
 
 #### Control the robot
 
-All the controllers for the robots work with a TwistStamped topic called /namespace/robotnik_base_controller/cmd_vel, the default topic is:
+All the controllers for the robots work with a TwistStamped topic called /namespace/robotnik_base_control/cmd_vel, the default topic is:
 
 ```sh
-/robot/robotnik_base_controller/cmd_vel
+/robot/robotnik_base_control/cmd_vel
 ```
 Also it can be used a Twist topic:
 ```sh
-/robot/robotnik_base_controller/cmd_vel_unstamped
+/robot/robotnik_base_control/cmd_vel_unstamped
 ```
 
 This topic will move the robot acording to the velocity demanded but it can be also controller by joint commands, using the topic:
 
 ```sh
-/robot/robotnik_base_controller/cmd_joint
+/robot/robotnik_base_control/cmd_joint
 ```
 
 Topic type sensor_msgs/msg/JointState.
@@ -264,7 +264,7 @@ I recommend to use teleop_twist_keyboard to control by cmd_vel:
 ```sh
 sudo apt install ros-jazzy-teleop-twist-keyboard
 
-ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/robot/robotnik_base_controller/cmd_vel -p stamped:=true
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r cmd_vel:=/robot/robotnik_base_control/cmd_vel -p stamped:=true
 ```
 
 ### Mobile robots with manipulators
diff --git a/robotnik_gazebo_ignition/config/rbkairos/rbkairos_controller_params.yaml b/robotnik_gazebo_ignition/config/rbkairos/rbkairos_controller_params.yaml
index 3c570d4..048523b 100644
--- a/robotnik_gazebo_ignition/config/rbkairos/rbkairos_controller_params.yaml
+++ b/robotnik_gazebo_ignition/config/rbkairos/rbkairos_controller_params.yaml
@@ -7,7 +7,7 @@
       joint_state_broadcaster:
         type: joint_state_broadcaster/JointStateBroadcaster
 
-      robotnik_base_controller:
+      robotnik_base_control:
         type: robotnik_controllers/RBKairosController
 
       joint_trajectory_controller:
@@ -43,7 +43,7 @@
       allow_partial_joints_goal: false
       open_loop_control: true
 
-  robotnik_base_controller:
+  robotnik_base_control:
     ros__parameters:
       use_sim_time: true
       publish_rate: 200
diff --git a/robotnik_gazebo_ignition/config/rbrobout/rbrobout_controller_params.yaml b/robotnik_gazebo_ignition/config/rbrobout/rbrobout_controller_params.yaml
index f73820b..9bc3881 100644
--- a/robotnik_gazebo_ignition/config/rbrobout/rbrobout_controller_params.yaml
+++ b/robotnik_gazebo_ignition/config/rbrobout/rbrobout_controller_params.yaml
@@ -7,7 +7,7 @@
       joint_state_broadcaster:
         type: joint_state_broadcaster/JointStateBroadcaster
 
-      robotnik_base_controller:
+      robotnik_base_control:
         type: robotnik_controllers/RBKairosController
 
       joint_trajectory_controller:
@@ -44,7 +44,7 @@
       allow_partial_joints_goal: false
       open_loop_control: true
 
-  robotnik_base_controller:
+  robotnik_base_control:
     ros__parameters:
       use_sim_time: true
       publish_rate: 200
diff --git a/robotnik_gazebo_ignition/config/rbsummit/rbsummit_controller_params.yaml b/robotnik_gazebo_ignition/config/rbsummit/rbsummit_controller_params.yaml
index 75e1dd2..dcc72f7 100644
--- a/robotnik_gazebo_ignition/config/rbsummit/rbsummit_controller_params.yaml
+++ b/robotnik_gazebo_ignition/config/rbsummit/rbsummit_controller_params.yaml
@@ -7,7 +7,7 @@
       joint_state_broadcaster:
         type: joint_state_broadcaster/JointStateBroadcaster
 
-      robotnik_base_controller:
+      robotnik_base_control:
         type: robotnik_controllers/RBSummitController
 
   joint_state_broadcaster:
@@ -15,7 +15,7 @@
       use_sim_time: true
       publish_rate: 200
 
-  robotnik_base_controller:
+  robotnik_base_control:
     ros__parameters:
       use_sim_time: true
       publish_rate: 200
diff --git a/robotnik_gazebo_ignition/config/rbtheron/rbtheron_controller_params.yaml b/robotnik_gazebo_ignition/config/rbtheron/rbtheron_controller_params.yaml
index 5c13224..116d4cb 100644
--- a/robotnik_gazebo_ignition/config/rbtheron/rbtheron_controller_params.yaml
+++ b/robotnik_gazebo_ignition/config/rbtheron/rbtheron_controller_params.yaml
@@ -7,7 +7,7 @@
       joint_state_broadcaster:
         type: joint_state_broadcaster/JointStateBroadcaster
 
-      robotnik_base_controller:
+      robotnik_base_control:
         type: robotnik_controllers/RBTheronController
 
   joint_state_broadcaster:
@@ -15,7 +15,7 @@
       use_sim_time: true
       publish_rate: 200
 
-  robotnik_base_controller:
+  robotnik_base_control:
     ros__parameters:
       use_sim_time: true
       publish_rate: 200
diff --git a/robotnik_gazebo_ignition/config/rbvogui/rbvogui_controller_params.yaml b/robotnik_gazebo_ignition/config/rbvogui/rbvogui_controller_params.yaml
index 8141b2d..7dabffd 100644
--- a/robotnik_gazebo_ignition/config/rbvogui/rbvogui_controller_params.yaml
+++ b/robotnik_gazebo_ignition/config/rbvogui/rbvogui_controller_params.yaml
@@ -7,7 +7,7 @@
       joint_state_broadcaster:
         type: joint_state_broadcaster/JointStateBroadcaster
 
-      robotnik_base_controller:
+      robotnik_base_control:
         type: robotnik_controllers/RBVoguiController
 
   joint_state_broadcaster:
@@ -15,7 +15,7 @@
       use_sim_time: true
       publish_rate: 50
 
-  robotnik_base_controller:
+  robotnik_base_control:
     ros__parameters:
       use_sim_time: true
       publish_rate: 50
diff --git a/robotnik_gazebo_ignition/launch/spawn_robot.launch.py b/robotnik_gazebo_ignition/launch/spawn_robot.launch.py
index 176c8f8..a3b4944 100644
--- a/robotnik_gazebo_ignition/launch/spawn_robot.launch.py
+++ b/robotnik_gazebo_ignition/launch/spawn_robot.launch.py
@@ -198,7 +198,7 @@ def generate_launch_description():
     robotnik_controller= Node(
         package='controller_manager',
         executable='spawner',
-        arguments=['robotnik_base_controller'],
+        arguments=['robotnik_base_control'],
         output='screen',
         emulate_tty=True,
         namespace=params['namespace']