diff --git a/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc b/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc
index fab58be000..c0836401dd 100644
--- a/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc
+++ b/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc
@@ -405,7 +405,7 @@ void LogicalAudioSensorPluginPrivate::CreateAudioSource(
     };
 
   // create services for this source
-  const auto validName = topicFromScopedName(entity, _ecm, true);
+  const auto validName = topicFromScopedName(entity, _ecm, false);
   if (validName.empty())
   {
     gzerr << "Failed to create valid topics with entity scoped name ["
@@ -503,7 +503,7 @@ void LogicalAudioSensorPluginPrivate::CreateMicrophone(
 
   // create the detection publisher for this microphone
   auto pub = this->node.Advertise<msgs::Double>(
-      topicFromScopedName(entity, _ecm, true) + "/detection");
+      topicFromScopedName(entity, _ecm, false) + "/detection");
   if (!pub)
   {
     gzerr << "Error creating a detection publisher for microphone "
diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc
index d4c9bc0d39..fd167a882e 100644
--- a/src/systems/pose_publisher/PosePublisher.cc
+++ b/src/systems/pose_publisher/PosePublisher.cc
@@ -250,7 +250,7 @@ void PosePublisher::Configure(const Entity &_entity,
   this->dataPtr->usePoseV =
     _sdf->Get<bool>("use_pose_vector_msg", this->dataPtr->usePoseV).first;
 
-  std::string poseTopic = topicFromScopedName(_entity, _ecm, true) + "/pose";
+  std::string poseTopic = topicFromScopedName(_entity, _ecm, false) + "/pose";
   if (poseTopic.empty())
   {
     poseTopic = "/pose";