diff --git a/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml b/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml
index c022d087..2730478b 100644
--- a/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml
+++ b/example_15/bringup/config/rrbot_namespace_forward_position_publisher.yaml
@@ -3,7 +3,7 @@ publisher_forward_position_controller:
 
     wait_sec_between_publish: 5
 
-    publish_topic: /rrbot/forward_position_controller/commands
+    publish_topic: /position_commands
 
     goal_names: ["pos1", "pos2", "pos3", "pos4"]
     pos1: [0.785, 0.785]
diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py
index 3fab3632..b3c70aca 100644
--- a/example_15/bringup/launch/rrbot_namespace.launch.py
+++ b/example_15/bringup/launch/rrbot_namespace.launch.py
@@ -71,7 +71,8 @@ def generate_launch_description():
         parameters=[robot_description, robot_controllers],
         remappings=[
             (
-                "/forward_position_controller/commands",
+                # we use the remapping from a relative name to FQN /position_commands
+                "forward_position_controller/commands",
                 "/position_commands",
             ),
         ],
diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
index 1e1be4b0..43e835a2 100644
--- a/example_2/bringup/launch/diffbot.launch.py
+++ b/example_2/bringup/launch/diffbot.launch.py
@@ -77,6 +77,7 @@ def generate_launch_description():
         output="both",
         remappings=[
             ("~/robot_description", "/robot_description"),
+            ("/diffbot_base_controller/cmd_vel", "/cmd_vel"),
         ],
     )
     robot_state_pub_node = Node(
@@ -84,9 +85,6 @@ def generate_launch_description():
         executable="robot_state_publisher",
         output="both",
         parameters=[robot_description],
-        remappings=[
-            ("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"),
-        ],
     )
     rviz_node = Node(
         package="rviz2",
diff --git a/example_2/doc/userdoc.rst b/example_2/doc/userdoc.rst
index f5ee8b4c..207128d4 100644
--- a/example_2/doc/userdoc.rst
+++ b/example_2/doc/userdoc.rst
@@ -88,7 +88,7 @@ Tutorial steps
 
    .. code-block:: shell
 
-    ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
+    ros2 topic pub --rate 30 /cmd_vel geometry_msgs/msg/TwistStamped "
     twist:
       linear:
         x: 0.7
diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
index 17dac5c2..043eadf7 100644
--- a/example_7/bringup/launch/r6bot_controller.launch.py
+++ b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -65,10 +65,6 @@ def generate_launch_description():
         parameters=[robot_controllers],
         remappings=[
             ("~/robot_description", "/robot_description"),
-            (
-                "/forward_position_controller/commands",
-                "/position_commands",
-            ),
         ],
         output="both",
     )