diff --git a/include/ur_modern_driver/ros/controller.h b/include/ur_modern_driver/ros/controller.h
index ea4989b..d99dc07 100644
--- a/include/ur_modern_driver/ros/controller.h
+++ b/include/ur_modern_driver/ros/controller.h
@@ -1,7 +1,6 @@
 #pragma once
 #include <controller_manager/controller_manager.h>
 #include <hardware_interface/force_torque_sensor_interface.h>
-#include <hardware_interface/internal/demangle_symbol.h>
 #include <hardware_interface/joint_command_interface.h>
 #include <hardware_interface/joint_state_interface.h>
 #include <hardware_interface/robot_hw.h>
@@ -46,7 +45,7 @@ private:
   void registerControllereInterface(T* interface)
   {
     registerInterface(interface);
-    available_interfaces_[hardware_interface::internal::demangledTypeName<typename T::parent_type>()] = interface;
+    available_interfaces_[T::INTERFACE_NAME] = interface;
   }
 
   void read(RTShared& state);
diff --git a/include/ur_modern_driver/ros/hardware_interface.h b/include/ur_modern_driver/ros/hardware_interface.h
index 5dd95c1..50e311b 100644
--- a/include/ur_modern_driver/ros/hardware_interface.h
+++ b/include/ur_modern_driver/ros/hardware_interface.h
@@ -33,7 +33,9 @@ private:
 public:
   JointInterface(std::vector<std::string> &joint_names);
   void update(RTShared &packet);
+
   typedef hardware_interface::JointStateInterface parent_type;
+  static const std::string INTERFACE_NAME;
 };
 
 class WrenchInterface : public hardware_interface::ForceTorqueSensorInterface
@@ -44,6 +46,7 @@ public:
   WrenchInterface();
   void update(RTShared &packet);
   typedef hardware_interface::ForceTorqueSensorInterface parent_type;
+  static const std::string INTERFACE_NAME;
 };
 
 class VelocityInterface : public HardwareInterface, public hardware_interface::VelocityJointInterface
@@ -59,6 +62,7 @@ public:
   virtual bool write();
   virtual void reset();
   typedef hardware_interface::VelocityJointInterface parent_type;
+  static const std::string INTERFACE_NAME;
 };
 
 class PositionInterface : public HardwareInterface, public hardware_interface::PositionJointInterface
@@ -75,4 +79,5 @@ public:
   virtual void stop();
 
   typedef hardware_interface::PositionJointInterface parent_type;
+  static const std::string INTERFACE_NAME;
 };
\ No newline at end of file
diff --git a/src/ros/controller.cpp b/src/ros/controller.cpp
index 75aa9c3..3e8b0f0 100644
--- a/src/ros/controller.cpp
+++ b/src/ros/controller.cpp
@@ -33,21 +33,23 @@ void ROSController::doSwitch(const std::list<hardware_interface::ControllerInfo>
 
   for (auto const& ci : start_list)
   {
-    auto ait = available_interfaces_.find(ci.hardware_interface);
+    auto ait = available_interfaces_.find(ci.name);
 
     if (ait == available_interfaces_.end())
       continue;
 
     auto new_interface = ait->second;
 
-    LOG_INFO("Starting %s", ci.hardware_interface.c_str());
+    LOG_INFO("Starting %s", ci.name.c_str());
+
     active_interface_ = new_interface;
     new_interface->start();
 
     return;
   }
 
-  LOG_WARN("Failed to start interface!");
+  if(start_list.size() > 0)
+    LOG_WARN("Failed to start interface!");
 }
 
 bool ROSController::write()
diff --git a/src/ros/hardware_interface.cpp b/src/ros/hardware_interface.cpp
index fde4e85..dc1ce9b 100644
--- a/src/ros/hardware_interface.cpp
+++ b/src/ros/hardware_interface.cpp
@@ -1,6 +1,7 @@
 #include "ur_modern_driver/ros/hardware_interface.h"
 #include "ur_modern_driver/log.h"
 
+const std::string JointInterface::INTERFACE_NAME = "joint_state_controller";
 JointInterface::JointInterface(std::vector<std::string> &joint_names)
 {
   for (size_t i = 0; i < 6; i++)
@@ -16,6 +17,8 @@ void JointInterface::update(RTShared &packet)
   efforts_ = packet.i_actual;
 }
 
+
+const std::string WrenchInterface::INTERFACE_NAME = "force_torque_sensor_controller";
 WrenchInterface::WrenchInterface()
 {
   registerHandle(hardware_interface::ForceTorqueSensorHandle("wrench", "", tcp_.begin(), tcp_.begin() + 3));
@@ -26,6 +29,8 @@ void WrenchInterface::update(RTShared &packet)
   tcp_ = packet.tcp_force;
 }
 
+
+const std::string VelocityInterface::INTERFACE_NAME = "vel_based_pos_traj_controller";
 VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface,
                                      std::vector<std::string> &joint_names, double max_vel_change)
   : commander_(commander), max_vel_change_(max_vel_change)
@@ -57,6 +62,7 @@ void VelocityInterface::reset()
   }
 }
 
+const std::string PositionInterface::INTERFACE_NAME = "pos_based_pos_traj_controller";
 PositionInterface::PositionInterface(TrajectoryFollower &follower,
                                      hardware_interface::JointStateInterface &js_interface,
                                      std::vector<std::string> &joint_names)