diff --git a/cob_description/urdf/cob4_base/base.urdf.xacro b/cob_description/urdf/cob4_base/base.urdf.xacro
index b8c78875a..b3296bb96 100644
--- a/cob_description/urdf/cob4_base/base.urdf.xacro
+++ b/cob_description/urdf/cob4_base/base.urdf.xacro
@@ -13,6 +13,8 @@
 
   <xacro:property name="base_mass" value="100" />
 
+  <xacro:arg name="robot_namespace" default="" />
+
 
   <xacro:macro name="base" params="name tricycle_mode:=false forward:=true">
 
@@ -126,7 +128,7 @@
     <!-- ros_control plugin -->
     <gazebo>
       <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
-        <robotNamespace>${name}</robotNamespace>
+        <robotNamespace>$(arg robot_namespace)/${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>
     </gazebo>
diff --git a/raw_description/urdf/base_long/base.urdf.xacro b/raw_description/urdf/base_long/base.urdf.xacro
index ac26f9b24..2297932ad 100644
--- a/raw_description/urdf/base_long/base.urdf.xacro
+++ b/raw_description/urdf/base_long/base.urdf.xacro
@@ -28,6 +28,8 @@
   <xacro:property name="battery_size_y" value="0.148" />
   <xacro:property name="battery_size_z" value="0.26" />
 
+  <xacro:arg name="robot_namespace" default="" />
+
   <!-- battery macros-->
   <xacro:macro name="cob_batteries" params="name parent *origin ">
     <joint name="${name}_battery_joint" type="fixed">
@@ -84,7 +86,7 @@
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
           <mesh filename="package://raw_description/meshes/base/raw_base_long.stl"/>
-          <!--box size="1.04 0.58 0.31" /-->
+          <!--<box size="0.93 0.49 0.31" />-->
         </geometry>
       </collision>
     </link>
@@ -121,7 +123,7 @@
     <!-- ros_control plugin -->
     <gazebo>
       <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
-        <robotNamespace>${name}</robotNamespace>
+        <robotNamespace>$(arg robot_namespace)/${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>
     </gazebo>
diff --git a/raw_description/urdf/base_short/base.urdf.xacro b/raw_description/urdf/base_short/base.urdf.xacro
index ed9f5b0b0..d34902c2e 100644
--- a/raw_description/urdf/base_short/base.urdf.xacro
+++ b/raw_description/urdf/base_short/base.urdf.xacro
@@ -27,6 +27,8 @@
   <xacro:property name="battery_size_y" value="0.148" />
   <xacro:property name="battery_size_z" value="0.26" />
 
+  <xacro:arg name="robot_namespace" default="" />
+
 
   <!-- battery macros-->
   <xacro:macro name="cob_batteries" params="name parent *origin ">
@@ -85,13 +87,14 @@
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
           <mesh filename="package://raw_description/meshes/base/raw_base_short.dae"/>
+          <!--<box size="0.688 0.503 0.096"/>-->
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0.209" rpy="0 0 0" />
         <geometry>
           <mesh filename="package://raw_description/meshes/base/raw_base_short.stl"/>
-          <!--box size="0.758 0.573 0.096"/-->
+          <!--<box size="0.678 0.493 0.096"/>-->
         </geometry>
       </collision>
     </link>
@@ -123,7 +126,7 @@
     <!-- ros_control plugin -->
     <gazebo>
       <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
-        <robotNamespace>${name}</robotNamespace>
+        <robotNamespace>$(arg robot_namespace)/${name}</robotNamespace>
         <filterJointsParam>joint_names</filterJointsParam>
       </plugin>
     </gazebo>