diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
index e52715604c1..eadca397561 100644
--- a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
+++ b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -128,18 +128,18 @@ class TestControllerChainingWithControllerManager
 
     // configure Left Wheel controller
     controller_interface::InterfaceConfiguration pid_left_cmd_ifs_cfg = {
-      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_0_joint/velocity"}};
+      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_left/velocity"}};
     controller_interface::InterfaceConfiguration pid_left_state_ifs_cfg = {
-      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_0_joint/velocity"}};
+      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_left/velocity"}};
     pid_left_wheel_controller->set_command_interface_configuration(pid_left_cmd_ifs_cfg);
     pid_left_wheel_controller->set_state_interface_configuration(pid_left_state_ifs_cfg);
     pid_left_wheel_controller->set_reference_interface_names({"velocity"});
 
     // configure Left Wheel controller
     controller_interface::InterfaceConfiguration pid_right_cmd_ifs_cfg = {
-      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_1_joint/velocity"}};
+      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_right/velocity"}};
     controller_interface::InterfaceConfiguration pid_right_state_ifs_cfg = {
-      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_1_joint/velocity"}};
+      controller_interface::interface_configuration_type::INDIVIDUAL, {"wheel_right/velocity"}};
     pid_right_wheel_controller->set_command_interface_configuration(pid_right_cmd_ifs_cfg);
     pid_right_wheel_controller->set_state_interface_configuration(pid_right_state_ifs_cfg);
     pid_right_wheel_controller->set_reference_interface_names({"velocity"});
@@ -150,7 +150,7 @@ class TestControllerChainingWithControllerManager
       {std::string(PID_LEFT_WHEEL) + "/velocity", std::string(PID_RIGHT_WHEEL) + "/velocity"}};
     controller_interface::InterfaceConfiguration diff_drive_state_ifs_cfg = {
       controller_interface::interface_configuration_type::INDIVIDUAL,
-      {"wheel_0_joint/velocity", "wheel_1_joint/velocity"}};
+      {"wheel_left/velocity", "wheel_right/velocity"}};
     diff_drive_controller->set_command_interface_configuration(diff_drive_cmd_ifs_cfg);
     diff_drive_controller->set_state_interface_configuration(diff_drive_state_ifs_cfg);
     diff_drive_controller->set_reference_interface_names({"vel_x", "vel_y", "rot_z"});
@@ -435,8 +435,8 @@ class TestControllerChainingWithControllerManager
   const std::vector<std::string> DIFF_DRIVE_REFERENCE_INTERFACES = {
     "diff_drive_controller/vel_x", "diff_drive_controller/vel_y", "diff_drive_controller/rot_z"};
 
-  const std::vector<std::string> PID_LEFT_WHEEL_CLAIMED_INTERFACES = {"wheel_0_joint/velocity"};
-  const std::vector<std::string> PID_RIGHT_WHEEL_CLAIMED_INTERFACES = {"wheel_1_joint/velocity"};
+  const std::vector<std::string> PID_LEFT_WHEEL_CLAIMED_INTERFACES = {"wheel_left/velocity"};
+  const std::vector<std::string> PID_RIGHT_WHEEL_CLAIMED_INTERFACES = {"wheel_right/velocity"};
   const std::vector<std::string> DIFF_DRIVE_CLAIMED_INTERFACES = {
     "pid_left_wheel_controller/velocity", "pid_right_wheel_controller/velocity"};
   const std::vector<std::string> POSITION_CONTROLLER_CLAIMED_INTERFACES = {
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
index 7c66aed94cb..c71b5d70a12 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -498,16 +498,16 @@ const auto diffbot_urdf =
       </geometry>
     </collision>
   </link>
-  <joint name="wheel_0_joint" type="continuous">
+  <joint name="wheel_left" type="continuous">
     <parent link="base_link"/>
     <child link="wheel_0_link"/>
     <origin rpy="-1.5707963267948966 0 0" xyz="0.3 0 0"/>
     <axis xyz="0 0 1"/>
   </joint>
   <!-- Transmission is important to link the joints and the controller -->
-  <transmission name="wheel_0_joint_trans" type="SimpleTransmission">
-    <actuator name="wheel_0_joint_motor"/>
-    <joint name="wheel_0_joint"/>
+  <transmission name="wheel_left_trans" type="SimpleTransmission">
+    <actuator name="wheel_left_motor"/>
+    <joint name="wheel_left"/>
     <mechanicalReduction>1</mechanicalReduction>
     <motorTorqueConstant>1</motorTorqueConstant>
   </transmission>
@@ -533,16 +533,16 @@ const auto diffbot_urdf =
       </geometry>
     </collision>
   </link>
-  <joint name="wheel_1_joint" type="continuous">
+  <joint name="wheel_right" type="continuous">
     <parent link="base_link"/>
     <child link="wheel_1_link"/>
     <origin rpy="-1.5707963267948966 0 0" xyz="-0.2 0 0"/>
     <axis xyz="0 0 1"/>
   </joint>
   <!-- Transmission is important to link the joints and the controller -->
-  <transmission name="wheel_1_joint_trans" type="SimpleTransmission">
-    <actuator name="wheel_1_joint_motor"/>
-    <joint name="wheel_1_joint"/>
+  <transmission name="wheel_right_trans" type="SimpleTransmission">
+    <actuator name="wheel_right_motor"/>
+    <joint name="wheel_right"/>
     <mechanicalReduction>1</mechanicalReduction>
     <motorTorqueConstant>1</motorTorqueConstant>
   </transmission>
@@ -560,7 +560,7 @@ const auto diffbot_urdf =
     <hardware>
       <plugin>test_actuator</plugin>
     </hardware>
-    <joint name="wheel_0_joint">
+    <joint name="wheel_left">
       <state_interface name="position"/>
       <command_interface name="velocity"/>
       <state_interface name="velocity"/>
@@ -570,7 +570,7 @@ const auto diffbot_urdf =
     <hardware>
       <plugin>test_actuator</plugin>
     </hardware>
-    <joint name="wheel_1_joint">
+    <joint name="wheel_right">
       <state_interface name="position"/>
       <command_interface name="velocity"/>
       <state_interface name="velocity"/>