diff --git a/crosbot_explore/include/crosbot_explore/actionServer/basicClientCommands.hpp b/crosbot_explore/include/crosbot_explore/actionServer/basicClientCommands.hpp
index 4cd55045125c9af1dee0d2c54589bead9fee4d68..a4ba77bccf6f33d77e42e474f3d3ff54da2cee19 100644
--- a/crosbot_explore/include/crosbot_explore/actionServer/basicClientCommands.hpp
+++ b/crosbot_explore/include/crosbot_explore/actionServer/basicClientCommands.hpp
@@ -8,13 +8,13 @@
 #ifndef CROSBOT_EXPLORE_BASIC_CLIENT_COMMANDS_HPP_
 #define CROSBOT_EXPLORE_BASIC_CLIENT_COMMANDS_HPP_
 
-#define DEFAULT_CONTROL_NAMESPACE     "crosbot_explore"
+#define CROSBOT_EXPLORE_DEFAULT_CONTROL_NAMESPACE       "crosbot_explore"
 
-#define COMMAND_GO_TO_ORIGIN          "explore_command_go_to_origin"
-#define COMMAND_GO_TO_POINT           "explore_command_go_to_point"
-#define COMMAND_GO_TO_POSE            "explore_command_go_to_pose"
-#define COMMAND_LEFTWALL_FOLLOW       "explore_command_leftwall_follow"
-#define COMMAND_RIGHTWALL_FOLLOW      "explore_command_rightwall_follow"
+#define CROSBOT_EXPLORE_COMMAND_GO_TO_ORIGIN            "explore_command_go_to_origin"
+#define CROSBOT_EXPLORE_COMMAND_GO_TO_POINT             "explore_command_go_to_point"
+#define CROSBOT_EXPLORE_COMMAND_GO_TO_POSE              "explore_command_go_to_pose"
+#define CROSBOT_EXPLORE_COMMAND_LEFTWALL_FOLLOW         "explore_command_leftwall_follow"
+#define CROSBOT_EXPLORE_COMMAND_RIGHTWALL_FOLLOW        "explore_command_rightwall_follow"
 
 
 #endif /* CROSBOT_EXPLORE_BASIC_CLIENT_COMMANDS_HPP_ */
diff --git a/crosbot_explore/src/actionServer/basicClient.cpp b/crosbot_explore/src/actionServer/basicClient.cpp
index 6e1038291cb96e9fa08b4f4fd23c1f65cbda3935..d24b1c9464fce850907bb537257b766dfa4b96d0 100644
--- a/crosbot_explore/src/actionServer/basicClient.cpp
+++ b/crosbot_explore/src/actionServer/basicClient.cpp
@@ -71,9 +71,9 @@ void BasicExplorerClient::startup() {
     // Use "local" namespace for config
     ros::NodeHandle nh("~");
 
-    crosbotCommand = new crosbot::CrosbotCommand(DEFAULT_CONTROL_NAMESPACE, true,
+    crosbotCommand = new crosbot::CrosbotCommand(CROSBOT_EXPLORE_DEFAULT_CONTROL_NAMESPACE, true,
             new _CommandCallback(this));
-    crosbotStatus = new crosbot::CrosbotStatus(DEFAULT_CONTROL_NAMESPACE);
+    crosbotStatus = new crosbot::CrosbotStatus(CROSBOT_EXPLORE_DEFAULT_CONTROL_NAMESPACE);
     aStarSrv = nh.serviceClient<crosbot_explore::GetPath>(aStarSrvName);
     pubPostrackReset = nh.advertise<std_msgs::String>(postrackResetPub_name, 1);
     pubGraphSlamReset = nh.advertise<std_msgs::String>(slamResetPub_name, 1);
@@ -106,20 +106,20 @@ void BasicExplorerClient::callback_receivedCommand(const crosbot_msgs::ControlCo
         setExploreMode(crosbot_explore::ExploreMode::MODE_RESUME);
     } else if (command->command == crosbot_msgs::ControlCommand::CMD_STOP) {
         setExploreMode(crosbot_explore::ExploreMode::MODE_STOP);
-    } else if (command->command == COMMAND_LEFTWALL_FOLLOW) {
+    } else if (command->command == CROSBOT_EXPLORE_COMMAND_LEFTWALL_FOLLOW) {
         setExploreMode(crosbot_explore::ExploreMode::MODE_LEFT_WALL);
-    } else if (command->command == COMMAND_RIGHTWALL_FOLLOW) {
+    } else if (command->command == CROSBOT_EXPLORE_COMMAND_RIGHTWALL_FOLLOW) {
         setExploreMode(crosbot_explore::ExploreMode::MODE_RIGHT_WALL);
-    } else if (command->command == COMMAND_GO_TO_ORIGIN) {
+    } else if (command->command == CROSBOT_EXPLORE_COMMAND_GO_TO_ORIGIN) {
         setAStarPose(crosbot::Pose3D(), false);
-    } else if (command->command == COMMAND_GO_TO_POINT) {
+    } else if (command->command == CROSBOT_EXPLORE_COMMAND_GO_TO_POINT) {
         crosbot::Pose3D toPose = getCommandPoint(command);
         if (toPose.isFinite()) {
             setAStarPose(toPose, false);
         } else {
             STATUS_ERROR(crosbotStatus, "%s Go to Point failed - invalid point specified", LOG_START);
         }
-    } else if (command->command == COMMAND_GO_TO_POSE) {
+    } else if (command->command == CROSBOT_EXPLORE_COMMAND_GO_TO_POSE) {
         crosbot::Pose3D toPose = getCommandPose(command);
         if (toPose.isFinite()) {
             setAStarPose(toPose, true);