diff --git a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
index e5084a87..1fd28d57 100644
--- a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
+++ b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
@@ -61,13 +61,13 @@ def generate_launch_description():
                    '-allow_renaming', 'true'],
     )
 
-    load_joint_state_controller = ExecuteProcess(
+    load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
     )
 
-    load_joint_trajectory_controller = ExecuteProcess(
+    load_tricycle_controller = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'tricycle_controller'],
         output='screen'
@@ -92,13 +92,13 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=gz_spawn_entity,
-                on_exit=[load_joint_state_controller],
+                on_exit=[load_joint_state_broadcaster],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_controller,
-                on_exit=[load_joint_trajectory_controller],
+                target_action=load_joint_state_broadcaster,
+                on_exit=[load_tricycle_controller],
             )
         ),
         node_robot_state_publisher,