diff --git a/ros_driver/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp b/ros_driver/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp
index 6b21f10..f73bdde 100644
--- a/ros_driver/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp
+++ b/ros_driver/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/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_2d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_2d_0.launch
index 6fe54ac..20b5e60 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_2d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_2d_0.launch
@@ -15,11 +15,14 @@
     <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_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1443_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1443_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_2d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_2d_1.launch
index e80e9d5..56c0386 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_2d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_2d_1.launch
@@ -15,11 +15,14 @@
     <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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1443_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/1443_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 1 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
   
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_0.launch
index 54199fe..08cb1cb 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_0.launch
@@ -15,11 +15,14 @@
     <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_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1443_3d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1443_3d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_1.launch
index 96544a2..bd6b743 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_1.launch
@@ -15,11 +15,14 @@
     <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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1443_3d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/1443_3d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 1 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
   
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1642_multi_2d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1642_multi_2d_0.launch
index 45c2b70..91301a1 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1642_multi_2d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1642_multi_2d_0.launch
@@ -19,12 +19,15 @@
     <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" />
     <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="$(find ti_mmwave_rospkg)/cfg/1642_2d.cfg" output="screen" />
-
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1642_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
+  
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ti_mmwave_rospkg)/launch/rviz/ti_mmwave_multi.rviz"/>
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1642_multi_2d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1642_multi_2d_1.launch
index 26d7291..1296f2c 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1642_multi_2d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1642_multi_2d_1.launch
@@ -19,11 +19,14 @@
     <param name="max_allowed_elevation_angle_deg" value="$(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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1642_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/1642_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 -1 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_2d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_2d_0.launch
index 724f46e..4b81e58 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_2d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_2d_0.launch
@@ -15,11 +15,14 @@
     <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_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1843_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1843_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_2d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_2d_1.launch
index 7068db7..bcc9a8d 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_2d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_2d_1.launch
@@ -15,11 +15,14 @@
     <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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1843_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/1843_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 1 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
   
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_3d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_3d_0.launch
index 0ca4288..b97263a 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_3d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_3d_0.launch
@@ -15,11 +15,14 @@
     <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_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1843_3d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1843_3d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_3d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_3d_1.launch
index 6c5c6c4..53dbd55 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_3d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/1843_multi_3d_1.launch
@@ -15,11 +15,14 @@
     <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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/1843_3d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/1843_3d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 1 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
   
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_2d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_2d_0.launch
index 5213a6a..e2ab7e5 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_2d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_2d_0.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_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/6843AOP_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/6843AOP_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_2d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_2d_1.launch
index 2118238..a364804 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_2d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_2d_1.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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/6843AOP_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/6843AOP_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_3d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_3d_0.launch
index 25d745d..c42b379 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_3d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_3d_0.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_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/6843AOP_3d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/6843AOP_3d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_3d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_3d_1.launch
index 741a764..f919569 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_3d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843AOP_multi_3d_1.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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/6843AOP_3d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/6843AOP_3d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843_3d_TDA4VM.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843_3d_TDA4VM.launch
index b2e36ae..ce6f20d 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843_3d_TDA4VM.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843_3d_TDA4VM.launch
@@ -26,11 +26,14 @@
     <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_$(arg device_num)"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_$(arg device_num)" />
     <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_$(arg device_num)"/>
   </node>
 
   <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
-  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_$(arg device_num)" args="$(find ti_mmwave_rospkg)/cfg/6843_3d.cfg" output="screen" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@'"/>
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_$(arg device_num)" args="$(find ti_mmwave_rospkg)/cfg/6843_3d.cfg" output="screen" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@'">
+    <param name="mmWaveCLI_name" value="/mmWaveCLI_$(arg device_num)" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_$(arg device_num)" args="$(arg tf_args) ti_mmwave_pcl ti_mmwave_$(arg device_num) 100" launch-prefix="bash -c 'sleep $(arg node_start_delay); $0 $@'"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_2d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_2d_0.launch
index 4eaaac1..00a1e20 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_2d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_2d_0.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_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/6843_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/6843_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_2d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_2d_1.launch
index e850eaa..2babc10 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_2d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_2d_1.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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/6843_2d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/6843_2d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_3d_0.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_3d_0.launch
index 4e014c3..86596de 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_3d_0.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_3d_0.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_0"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/6843_3d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/6843_3d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_3d_1.launch b/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_3d_1.launch
index 959e174..7e12a6f 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_3d_1.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/6843_multi_3d_1.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_1"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <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="$(find ti_mmwave_rospkg)/cfg/6843_3d.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/6843_3d.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="5 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_1 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/launch/camera_overlay.launch b/ros_driver/src/ti_mmwave_rospkg/launch/camera_overlay.launch
index 0bd6f95..6eb6b21 100644
--- a/ros_driver/src/ti_mmwave_rospkg/launch/camera_overlay.launch
+++ b/ros_driver/src/ti_mmwave_rospkg/launch/camera_overlay.launch
@@ -25,10 +25,13 @@
     <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" />
     <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_0"/>
   </node>
 
-  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1642es2_short_range.cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1642es2_short_range.cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
 
   <node pkg="tf" type="static_transform_publisher" name="radar_baselink" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
 
diff --git a/ros_driver/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp b/ros_driver/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
index 9933326..9a25067 100644
--- a/ros_driver/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
+++ b/ros_driver/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp
@@ -15,11 +15,12 @@ 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/ros_driver/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp b/ros_driver/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
index 1c322a6..217fd17 100644
--- a/ros_driver/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
+++ b/ros_driver/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
@@ -9,6 +9,7 @@
 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");
@@ -16,11 +17,13 @@ int main(int argc, char **argv) {
     } 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();