diff --git a/clearpath_control/launch/control.launch.py b/clearpath_control/launch/control.launch.py
index fc1e70b8..fd24d01f 100644
--- a/clearpath_control/launch/control.launch.py
+++ b/clearpath_control/launch/control.launch.py
@@ -39,21 +39,27 @@
 from clearpath_config.common.utils.dictionary import unflatten_dict
 from clearpath_config.common.utils.yaml import read_yaml
 
-REMAPPINGS = [
-    ('joint_states', 'platform/joint_states'),
-    ('dynamic_joint_states', 'platform/dynamic_joint_states'),
-    ('platform_velocity_controller/odom', 'platform/odom'),
-    ('platform_velocity_controller/odometry', 'platform/odom'),
-    ('platform_velocity_controller/cmd_vel', 'platform/cmd_vel'),
-    ('platform_velocity_controller/cmd_vel_out', 'platform/cmd_vel_out'),
-    ('platform_velocity_controller/reference', 'platform/cmd_vel'),
-    ('platform_velocity_controller/transition_event', 'platform/transition_event'),
+CONTROLLER_MANAGER_REMAPPINGS = [
     ('/diagnostics', 'diagnostics'),
-    ('/tf', 'tf'),
-    ('/tf_static', 'tf_static'),
     ('~/robot_description', 'robot_description'),
 ]
 
+JOINT_STATE_BROADCASTER_REMAPPINGS = [
+    '-r', 'joint_states:=platform/joint_states',
+    '-r', 'dynamic_joint_states:=platform/dynamic_joint_states',
+]
+
+PLATFORM_VELOCITY_CONTROLLER_REMAPPINGS = [
+    '-r', '~/odom:=platform/odom',
+    '-r', '~/odometry:=platform/odom',
+    '-r', '~/cmd_vel:=platform/cmd_vel',
+    '-r', '~/cmd_vel_out:=platform/cmd_vel_out',
+    '-r', '~/reference:=platform/cmd_vel',
+    '-r', '~/transition_event:=platform/transition_event',
+    '-r', '/tf:=tf',
+    '-r', '/tf_static:=tf_static',
+]
+
 
 def launch_setup(context, *args, **kwargs):
     setup_path = LaunchConfiguration('setup_path')
@@ -76,14 +82,17 @@ def launch_setup(context, *args, **kwargs):
             'stdout': 'screen',
             'stderr': 'screen',
         },
-        remappings=REMAPPINGS,
+        remappings=CONTROLLER_MANAGER_REMAPPINGS,
         condition=UnlessCondition(use_sim_time)
     ))
     # Add Joint State Broadcaster
     controllers.append(Node(
         package='controller_manager',
         executable='spawner',
-        arguments=['--controller-manager-timeout', '60', 'joint_state_broadcaster'],
+        arguments=[
+            '--controller-manager-timeout', '60', 'joint_state_broadcaster',
+            '--controller-ros-args',
+        ] + JOINT_STATE_BROADCASTER_REMAPPINGS,
         output='screen',
         additional_env={'ROS_SUPER_CLIENT': 'True'},
     ))
@@ -91,7 +100,10 @@ def launch_setup(context, *args, **kwargs):
     controllers.append(Node(
         package='controller_manager',
         executable='spawner',
-        arguments=['--controller-manager-timeout', '60', 'platform_velocity_controller'],
+        arguments=[
+            '--controller-manager-timeout', '60', 'platform_velocity_controller',
+            '--controller-ros-args',
+        ] + PLATFORM_VELOCITY_CONTROLLER_REMAPPINGS,
         output='screen',
         additional_env={'ROS_SUPER_CLIENT': 'True'},
     ))
diff --git a/clearpath_manipulators/launch/control.launch.py b/clearpath_manipulators/launch/control.launch.py
index 260cea32..739ab4fc 100644
--- a/clearpath_manipulators/launch/control.launch.py
+++ b/clearpath_manipulators/launch/control.launch.py
@@ -62,14 +62,6 @@ def launch_setup(context, *args, **kwargs):
         },
         remappings=[
             ('~/robot_description', 'robot_description'),
-            ('dynamic_joint_states',
-                PathJoinSubstitution([
-                    '/', namespace, 'platform', 'dynamic_joint_states'
-                ])),
-            ('joint_states',
-                PathJoinSubstitution([
-                    '/', namespace, 'platform', 'joint_states'
-                ])),
         ],
     ))
     # Add Joint State Broadcaster
@@ -78,6 +70,15 @@ def launch_setup(context, *args, **kwargs):
         executable='spawner',
         arguments=[
             'joint_state_broadcaster', '--controller-manager-timeout', '60',
+            '--controller-ros-args',
+            '-r', ['dynamic_joint_states:=',
+                   PathJoinSubstitution([
+                       '/', namespace, 'platform', 'dynamic_joint_states'
+                   ])],
+            '-r', ['joint_states:=',
+                   PathJoinSubstitution([
+                       '/', namespace, 'platform', 'joint_states'
+                   ])],
         ],
         output='screen',
     ))