diff --git a/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py b/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
index c7a9af4f..34b9c1f5 100644
--- a/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
+++ b/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
@@ -77,6 +77,8 @@ def robot_state_publisher(context):
         arguments=['ackermann_steering_controller',
                    '--param-file',
                    robot_controllers,
+                   '--controller-ros-args',
+                   '-r /ackermann_steering_controller/tf_odometry:=/tf',
                    ],
     )
 
diff --git a/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py b/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py
index 9faf782d..406e15ad 100644
--- a/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py
+++ b/gz_ros2_control_demos/launch/mecanum_drive_example.launch.py
@@ -74,6 +74,8 @@ def generate_launch_description():
             'mecanum_drive_controller',
             '--param-file',
             robot_controllers,
+            '--controller-ros-args',
+            '-r /mecanum_drive_controller/tf_odometry:=/tf',
             ],
     )