diff --git a/lbr_ros2_control/include/lbr_ros2_control/lbr_forward_torque_command.hpp b/lbr_ros2_control/include/lbr_ros2_control/lbr_forward_torque_command_controller.hpp
similarity index 100%
rename from lbr_ros2_control/include/lbr_ros2_control/lbr_forward_torque_command.hpp
rename to lbr_ros2_control/include/lbr_ros2_control/lbr_forward_torque_command_controller.hpp
diff --git a/lbr_ros2_control/include/lbr_ros2_control/lbr_forward_wrench_command.hpp b/lbr_ros2_control/include/lbr_ros2_control/lbr_forward_wrench_command_controller.hpp
similarity index 100%
rename from lbr_ros2_control/include/lbr_ros2_control/lbr_forward_wrench_command.hpp
rename to lbr_ros2_control/include/lbr_ros2_control/lbr_forward_wrench_command_controller.hpp
diff --git a/lbr_ros2_control/src/lbr_forward_torque_command.cpp b/lbr_ros2_control/src/lbr_forward_torque_command_controller.cpp
similarity index 100%
rename from lbr_ros2_control/src/lbr_forward_torque_command.cpp
rename to lbr_ros2_control/src/lbr_forward_torque_command_controller.cpp
diff --git a/lbr_ros2_control/src/lbr_forward_wrench_command.cpp b/lbr_ros2_control/src/lbr_forward_wrench_command_controller.cpp
similarity index 100%
rename from lbr_ros2_control/src/lbr_forward_wrench_command.cpp
rename to lbr_ros2_control/src/lbr_forward_wrench_command_controller.cpp