diff --git a/rmf_building_sim_common/src/door_common.cpp b/rmf_building_sim_common/src/door_common.cpp
index 729805e..d14df7c 100644
--- a/rmf_building_sim_common/src/door_common.cpp
+++ b/rmf_building_sim_common/src/door_common.cpp
@@ -72,10 +72,10 @@ DoorCommon::DoorCommon(const std::string& door_name,
   _request.requested_mode.value = DoorMode::MODE_CLOSED;
 
   _door_state_pub = _ros_node->create_publisher<DoorState>(
-    "/door_states", rclcpp::SystemDefaultsQoS());
+    "sim/door_states", rclcpp::SystemDefaultsQoS());
 
   _door_request_sub = _ros_node->create_subscription<DoorRequest>(
-    "/door_requests", rclcpp::SystemDefaultsQoS(),
+    "sim/door_requests", rclcpp::SystemDefaultsQoS(),
     [&](DoorRequest::UniquePtr msg)
     {
       if (msg->door_name == _state.door_name)
diff --git a/rmf_building_sim_common/src/lift_common.cpp b/rmf_building_sim_common/src/lift_common.cpp
index fa879cc..d9ca682 100644
--- a/rmf_building_sim_common/src/lift_common.cpp
+++ b/rmf_building_sim_common/src/lift_common.cpp
@@ -204,13 +204,14 @@ LiftCommon::LiftCommon(rclcpp::Node::SharedPtr node,
 
   // initialize pub & sub
   _lift_state_pub = _ros_node->create_publisher<LiftState>(
-    "/lift_states", rclcpp::SystemDefaultsQoS());
+    "sim/lift_states", rclcpp::SystemDefaultsQoS());
 
+  // TODO(luca) remove adapter door request and make lift command its own doors
   _door_request_pub = _ros_node->create_publisher<DoorRequest>(
-    "/adapter_door_requests", rclcpp::SystemDefaultsQoS());
+    "adapter_door_requests", rclcpp::SystemDefaultsQoS());
 
   _lift_request_sub = _ros_node->create_subscription<LiftRequest>(
-    "/lift_requests", rclcpp::SystemDefaultsQoS(),
+    "sim/lift_requests", rclcpp::SystemDefaultsQoS(),
     [&](LiftRequest::UniquePtr msg)
     {
       if (msg->lift_name != _lift_name)