diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp
index 9e845e9..804afa6 100755
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp
@@ -76,6 +76,8 @@ class mmWaveCommSrv : public nodelet::Nodelet
    std::string mySerialPort;
    
    int myBaudRate;
+
+   std::string mmWaveCLIName;
 }; //Class mmWaveCommSrv 
 
 } //namespace ti_mmwave_rospkg 
diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch
index 781697e..2c807a7 100644
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch
@@ -12,18 +12,21 @@
 
   <!-- mmWave_Manager node -->
   <node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_1" output="screen">
-    <param name="command_port" value="/dev/mmWave_00CE0E81_00"  />
+    <param name="command_port" value="/dev/mmWave_00CE0FCA_00"  />
     <param name="command_rate" value="115200"   />
-    <param name="data_port" value="/dev/mmWave_00CE0E81_01"  />
+    <param name="data_port" value="/dev/mmWave_00CE0FCA_01"  />
     <param name="data_rate" value="921600"   />
     <param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)"   />
     <param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)"   />
     <param name="frame_id" value="ti_mmwave_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_1" />
     <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_1"/>
   </node>
 
   <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
-  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen">
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_1" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 -0.19 0.18 1.57 3.1415 0 base_link ti_mmwave_1 100"/>
 
diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch
index 89cb9d1..b326d41 100644
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch
@@ -12,18 +12,21 @@
 
   <!-- mmWave_Manager node -->
   <node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_0" output="screen">
-    <param name="command_port" value="/dev/mmWave_00CE0FCA_00"  />
+    <param name="command_port" value="/dev/mmWave_00CE0E81_00"  />
     <param name="command_rate" value="115200"   />
-    <param name="data_port" value="/dev/mmWave_00CE0FCA_01"  />
+    <param name="data_port" value="/dev/mmWave_00CE0E81_01"  />
     <param name="data_rate" value="921600"   />
     <param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)"   />
     <param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)"   />
     <param name="frame_id" value="ti_mmwave_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_0" />
     <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_0"/>
   </node>
 
   <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
-  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_0" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 base_link ti_mmwave_0 100"/>
 <!--
diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch
index 5a40825..3b6c6f9 100644
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch
@@ -19,11 +19,14 @@
     <param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)"   />
     <param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)"   />
     <param name="frame_id" value="ti_mmwave_2"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_2" />
     <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_2"/>
   </node>
 
   <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
-  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_2" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_2" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_2" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_2" args="-.19 0 0.18 3.14 0 3.14 base_link ti_mmwave_2 100"/>
 
diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch
index 177a8c6..5b815fb 100644
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch
@@ -12,18 +12,21 @@
 
   <!-- mmWave_Manager node -->
   <node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_3" output="screen">
-    <param name="command_port" value="/dev/mmWave_00D83B50_00"  />
+    <param name="command_port" value="/dev/mmWave_00CE0E83_00"  />
     <param name="command_rate" value="115200"   />
-    <param name="data_port" value="/dev/mmWave_00D83B50_01"  />
+    <param name="data_port" value="/dev/mmWave_00CE0E83_01"  />
     <param name="data_rate" value="921600"   />
     <param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)"   />
     <param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)"   />
     <param name="frame_id" value="ti_mmwave_3"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_3" />
     <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_3"/>
   </node>
 
   <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
-  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_3" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_3" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_3" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_3" args="0 0.19 0.18 -1.57 3.1415 0 base_link ti_mmwave_3 100"/>
 
diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
index e73ba7b..17aa815 100644
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
@@ -19,11 +19,14 @@
     <param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)"   />
     <param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)"   />
     <param name="frame_id" value="ti_mmwave"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl"/>
   </node>
   
   <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
-  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
   
   <node pkg="tf2_ros" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 base_link ti_mmwave"/>
 
diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
index 11ae675..716f41b 100755
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
@@ -53,11 +53,12 @@ void mmWaveCommSrv::onInit()
     private_nh2.getParam("command_port", mySerialPort);
     
     private_nh2.getParam("command_rate", myBaudRate);
+    private_nh2.getParam("mmWaveCLI_name", mmWaveCLIName);
     
     ROS_INFO("mmWaveCommSrv: command_port = %s", mySerialPort.c_str());
     ROS_INFO("mmWaveCommSrv: command_rate = %d", myBaudRate);
     
-    commSrv = private_nh.advertiseService("/mmWaveCLI", &mmWaveCommSrv::commSrv_cb, this);
+    commSrv = private_nh.advertiseService(mmWaveCLIName, &mmWaveCommSrv::commSrv_cb, this);
     
     NODELET_DEBUG("mmWaveCommsrv: Finished onInit function");
 }
diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
index 7bdf3b9..de13910 100755
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
@@ -47,18 +47,20 @@
 int main(int argc, char **argv) {
     ros::init(argc, argv, "mmWaveQuickConfig");
     ros::NodeHandle nh;
+    ros::NodeHandle private_nh("~");
     ti_mmwave_rospkg::mmWaveCLI srv;
     if (argc != 2) {
         ROS_INFO("mmWaveQuickConfig: usage: mmWaveQuickConfig /file_directory/params.cfg");
         return 1;
     } else 
         ROS_INFO("mmWaveQuickConfig: Configuring mmWave device using config file: %s", argv[1]);
-    
-    ros::ServiceClient client = nh.serviceClient<ti_mmwave_rospkg::mmWaveCLI>("/mmWaveCLI");
+    std::string mmWaveCLIName;
+    private_nh.getParam("mmWaveCLI_name", mmWaveCLIName);
+    ros::ServiceClient client = nh.serviceClient<ti_mmwave_rospkg::mmWaveCLI>(mmWaveCLIName);
     std::ifstream myParams;
     ti_mmwave_rospkg::ParameterParser parser;
     //wait for service to become available
-    ros::service::waitForService("/mmWaveCLI", 10000); 
+    ros::service::waitForService(mmWaveCLIName, 10000); 
     
     //wait 0.5 secs to avoid multi-sensor conflicts
     ros::Duration(0.5).sleep();