diff --git a/plugins/de.fraunhofer.ipa.ros.observer.generator/src/de/fraunhofer/ipa/ros/observer/generator/ObserverPyCodeGenerator.xtend b/plugins/de.fraunhofer.ipa.ros.observer.generator/src/de/fraunhofer/ipa/ros/observer/generator/ObserverPyCodeGenerator.xtend
index 032a2ac08..bf503a06e 100644
--- a/plugins/de.fraunhofer.ipa.ros.observer.generator/src/de/fraunhofer/ipa/ros/observer/generator/ObserverPyCodeGenerator.xtend
+++ b/plugins/de.fraunhofer.ipa.ros.observer.generator/src/de/fraunhofer/ipa/ros/observer/generator/ObserverPyCodeGenerator.xtend
@@ -44,7 +44,7 @@ from «sub.message.package.name».msg import «sub.message.name»
 from diagnostic_msgs.msg import DiagnosticStatus, KeyValue
 
 
-class QualityObserver(TopicObserver):
+class «node.name.replace("_","").replace("/","").toFirstUpper»(TopicObserver):
     def __init__(self, name):
     	
         topics = [
@@ -52,7 +52,7 @@ class QualityObserver(TopicObserver):
         ("«sub.name»", «sub.message.name»)«IF count_sub > 1 »,«ENDIF»«ENDFOR»
         ]
 
-        super(QualityObserver, self).__init__(
+        super(«node.name.replace("_","").replace("/","").toFirstUpper», self).__init__(
             name, 10, topics)
 
     def calculate_attr(self, msgs):
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend
index 5d0a4f720..5d7c7a920 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend
@@ -453,7 +453,7 @@ def String get_ns(ComponentInterface component){
 }
 
 def compile_pkg(ComponentInterface component) 
-'''«IF !PackageSet && !component.rospublisher.empty»«FOR Rospublisher:component.rospublisher»«IF !PackageSet»«Rospublisher.publisher.getPackage_pub()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rossubscriber.empty»«FOR Rossubscriber:component.rossubscriber»«IF !PackageSet»«Rossubscriber.subscriber.getPackage_sub()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosserviceserver.empty»«FOR Rosserviceserver:component.rosserviceserver»«IF !PackageSet»«Rosserviceserver.srvserver.getPackage_srvserv()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosserviceclient.empty»«FOR Rosserviceclient:component.rosserviceclient»«IF !PackageSet»«Rosserviceclient.srvclient.getPackage_srvcli()»«ENDIF»«ENDFOR»«ENDIF»'''
+'''«IF !PackageSet && !component.rospublisher.empty»«FOR Rospublisher:component.rospublisher»«IF !PackageSet»«Rospublisher.publisher.getPackage_pub()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rossubscriber.empty»«FOR Rossubscriber:component.rossubscriber»«IF !PackageSet»«Rossubscriber.subscriber.getPackage_sub()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosserviceserver.empty»«FOR Rosserviceserver:component.rosserviceserver»«IF !PackageSet»«Rosserviceserver.srvserver.getPackage_srvserv()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosserviceclient.empty»«FOR Rosserviceclient:component.rosserviceclient»«IF !PackageSet»«Rosserviceclient.srvclient.getPackage_srvcli()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosparameter.empty»«FOR Rosparameter:component.rosparameter»«IF !PackageSet»«Rosparameter.parameter.getPackage_rosparam()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosactionserver.empty»«FOR RosActionSever:component.rosactionserver»«IF !PackageSet»«RosActionSever.actserver.getPackage_actserver()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosactionclient.empty»«FOR RosActionClient:component.rosactionclient»«IF !PackageSet»«RosActionClient.actclient.getPackage_actclient()»«ENDIF»«ENDFOR»«ENDIF»'''
 	
 	def void init(){
 		PackageSet=false
@@ -495,7 +495,7 @@ def compile_pkg(ComponentInterface component)
 	}
 	
 	def compile_art(ComponentInterface component) 	
-'''«IF !ArtifactSet && !component.rospublisher.empty»«FOR Rospublisher:component.rospublisher»«IF !ArtifactSet»«Rospublisher.publisher.getArtifact_pub()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rossubscriber.empty»«FOR Rossubscriber:component.rossubscriber»«IF !ArtifactSet»«Rossubscriber.subscriber.getArtifact_sub()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosserviceserver.empty»«FOR Rosserviceserver:component.rosserviceserver»«IF !ArtifactSet»«Rosserviceserver.srvserver.getArtifact_srvserv()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosserviceclient.empty»«FOR Rosserviceclient:component.rosserviceclient»«IF !ArtifactSet»«Rosserviceclient.srvclient.getArtifact_srvcli()»«ENDIF»«ENDFOR»«ENDIF»'''
+'''«IF !ArtifactSet && !component.rospublisher.empty»«FOR Rospublisher:component.rospublisher»«IF !ArtifactSet»«Rospublisher.publisher.getArtifact_pub()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rossubscriber.empty»«FOR Rossubscriber:component.rossubscriber»«IF !ArtifactSet»«Rossubscriber.subscriber.getArtifact_sub()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosserviceserver.empty»«FOR Rosserviceserver:component.rosserviceserver»«IF !ArtifactSet»«Rosserviceserver.srvserver.getArtifact_srvserv()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosserviceclient.empty»«FOR Rosserviceclient:component.rosserviceclient»«IF !ArtifactSet»«Rosserviceclient.srvclient.getArtifact_srvcli()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosparameter.empty»«FOR RosParameter:component.rosparameter»«IF !ArtifactSet»«RosParameter.parameter.getArtifact_rosparam()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosactionserver.empty»«FOR Rosactionserver:component.rosactionserver»«IF !ArtifactSet»«Rosactionserver.actserver.getArtifact_actserver()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosactionclient.empty»«FOR Rosactionclient:component.rosactionclient»«IF !ArtifactSet»«Rosactionclient.actclient.getArtifact_actclient()»«ENDIF»«ENDFOR»«ENDIF»'''
 	def getArtifact_pub(Publisher publisher){
 		artifact_impl = publisher.eContainer.eContainer.toString;
 		return artifact_impl.getArtifact;