diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index a4dd2fbdd311ee635ac6f0383b8b353a65d319f8..333c5421f992d69cfa201698cfc348f4499edbe0 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -302,7 +302,7 @@
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
     <link name="${prefix}base"/>
-    <joint name="${prefix}base_link-base" type="fixed">
+    <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
       <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -314,7 +314,7 @@
 
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
-    <joint name="${prefix}wrist_3_link-tool0" type="fixed">
+    <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
       <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>
diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf b/ur_description/urdf/ur10_joint_limited_robot.urdf
index 3aab4c032ab197157032f42ae38e4cabb51c9f18..a01152a26ffa2823b3a5f583261a97b1c58c6a4a 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur10_joint_limited_robot.urdf
@@ -283,7 +283,7 @@
     </actuator>
   </transmission>
   <link name="base"/>
-  <joint name="base_link-base" type="fixed">
+  <joint name="base_link-base_fixed_joint" type="fixed">
     <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -293,7 +293,7 @@
     <child link="base"/>
   </joint>
   <link name="tool0"/>
-  <joint name="wrist_3_link-tool0" type="fixed">
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
     <origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/>
     <parent link="wrist_3_link"/>
     <child link="tool0"/>
diff --git a/ur_description/urdf/ur10_robot.urdf b/ur_description/urdf/ur10_robot.urdf
index a6144133190d698031650c7a501b73df8771612c..def9d241549a95129339f1431df4243d22ff2aad 100644
--- a/ur_description/urdf/ur10_robot.urdf
+++ b/ur_description/urdf/ur10_robot.urdf
@@ -283,7 +283,7 @@
     </actuator>
   </transmission>
   <link name="base"/>
-  <joint name="base_link-base" type="fixed">
+  <joint name="base_link-base_fixed_joint" type="fixed">
     <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -293,7 +293,7 @@
     <child link="base"/>
   </joint>
   <link name="tool0"/>
-  <joint name="wrist_3_link-tool0" type="fixed">
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
     <origin rpy="-1.570796325 0 0" xyz="0 0.0922 0"/>
     <parent link="wrist_3_link"/>
     <child link="tool0"/>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 2c5998b0a6ec532a4e41a4127e1643b3fffc6265..324ff520362af38c3854f7155f8886745219c373 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -317,7 +317,7 @@
 
     <!-- ROS base_link to UR 'Base' Coordinates transform -->
     <link name="${prefix}base"/>
-    <joint name="${prefix}base_link-base" type="fixed">
+    <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
       <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -329,7 +329,7 @@
 
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
-    <joint name="${prefix}wrist_3_link-tool0" type="fixed">
+    <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
       <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>
diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf b/ur_description/urdf/ur5_joint_limited_robot.urdf
index eb2000834b28d4901db9b57483952932c29a66cc..ebce3b0e343ac5c31256189283eb529f34abdaf9 100644
--- a/ur_description/urdf/ur5_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur5_joint_limited_robot.urdf
@@ -283,7 +283,7 @@
     </actuator>
   </transmission>
   <link name="base"/>
-  <joint name="base_link-base" type="fixed">
+  <joint name="base_link-base_fixed_joint" type="fixed">
     <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -293,7 +293,7 @@
     <child link="base"/>
   </joint>
   <link name="tool0"/>
-  <joint name="wrist_3_link-tool0" type="fixed">
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
     <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
     <parent link="wrist_3_link"/>
     <child link="tool0"/>
diff --git a/ur_description/urdf/ur5_robot.urdf b/ur_description/urdf/ur5_robot.urdf
index a912fba9e940590f67f1ee11afd746d8409c6c2f..4ff7e3e63d3dd8d31ab7c735c041dbd77cc5ecfd 100644
--- a/ur_description/urdf/ur5_robot.urdf
+++ b/ur_description/urdf/ur5_robot.urdf
@@ -283,7 +283,7 @@
     </actuator>
   </transmission>
   <link name="base"/>
-  <joint name="base_link-base" type="fixed">
+  <joint name="base_link-base_fixed_joint" type="fixed">
     <!-- NOTE: this rotation is only needed as long as base_link itself is
                  not corrected wrt the real robot (ie: rotated over 180
                  degrees)
@@ -293,7 +293,7 @@
     <child link="base"/>
   </joint>
   <link name="tool0"/>
-  <joint name="wrist_3_link-tool0" type="fixed">
+  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
     <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0"/>
     <parent link="wrist_3_link"/>
     <child link="tool0"/>