diff --git a/fuse_core/include/fuse_core/parameter.hpp b/fuse_core/include/fuse_core/parameter.hpp
index 507def3d5..bab6bcecf 100644
--- a/fuse_core/include/fuse_core/parameter.hpp
+++ b/fuse_core/include/fuse_core/parameter.hpp
@@ -49,6 +49,9 @@
 namespace fuse_core
 {
 
+// Helper function to get a namespace string with a '.' suffix, but only if not empty
+std::string joinParameterName(const std::string & left, const std::string & right);
+
 // NOTE(CH3): Some of these basically mimic the behavior from rclcpp's node.hpp, but for interfaces
 
 /**
diff --git a/fuse_core/src/parameter.cpp b/fuse_core/src/parameter.cpp
index aa272c50c..a2d01a2d7 100644
--- a/fuse_core/src/parameter.cpp
+++ b/fuse_core/src/parameter.cpp
@@ -83,4 +83,21 @@ detail::list_parameter_override_prefixes(
   }
   return output_names;
 }
+
+std::string joinParameterName(const std::string & left, const std::string & right)
+{
+  if (left.empty()) {
+    return right;
+  }
+  if (right.empty()) {
+    return left;
+  }
+  if ('.' != left.back() && '.' != right.front() ) {
+    return left + '.' + right;
+  }
+  if ('.' == left.back() && '.' == right.front()) {
+    return left + right.substr(1);
+  }
+  return left + right;
+}
 }  // namespace fuse_core
diff --git a/fuse_core/test/test_parameter.cpp b/fuse_core/test/test_parameter.cpp
index cce8db2c9..bc334ede5 100644
--- a/fuse_core/test/test_parameter.cpp
+++ b/fuse_core/test/test_parameter.cpp
@@ -95,3 +95,13 @@ TEST(parameter, list_parameter_override_prefixes)
     EXPECT_NE(matches.end(), matches.find("baz"));
   }
 }
+
+TEST(parameter, joinParameterName)
+{
+  EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo", "bar"));
+  EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo.", "bar"));
+  EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo", ".bar"));
+  EXPECT_EQ("foo.bar", fuse_core::joinParameterName("foo.", ".bar"));
+  EXPECT_EQ("foo", fuse_core::joinParameterName("foo", ""));
+  EXPECT_EQ("bar", fuse_core::joinParameterName("", "bar"));
+}
diff --git a/fuse_publishers/src/serialized_publisher.cpp b/fuse_publishers/src/serialized_publisher.cpp
index 174c5adb6..153bb9eb2 100644
--- a/fuse_publishers/src/serialized_publisher.cpp
+++ b/fuse_publishers/src/serialized_publisher.cpp
@@ -69,17 +69,27 @@ void SerializedPublisher::initialize(
 void SerializedPublisher::onInit()
 {
   // Configure the publisher
-  frame_id_ = fuse_core::getParam(interfaces_, "frame_id", frame_id_);
+  frame_id_ = fuse_core::getParam(
+    interfaces_,
+    fuse_core::joinParameterName(name_, "frame_id"), frame_id_);
 
   bool latch = false;
-  latch = fuse_core::getParam(interfaces_, "latch", latch);
+  latch = fuse_core::getParam(
+    interfaces_,
+    fuse_core::joinParameterName(name_, "latch"), latch);
 
   rclcpp::Duration graph_throttle_period{0, 0};
-  fuse_core::getPositiveParam(interfaces_, "graph_throttle_period", graph_throttle_period, false);
+  fuse_core::getPositiveParam(
+    interfaces_,
+    fuse_core::joinParameterName(name_, "graph_throttle_period"),
+    graph_throttle_period, false);
 
   bool graph_throttle_use_wall_time{false};
   graph_throttle_use_wall_time =
-    fuse_core::getParam(interfaces_, "graph_throttle_use_wall_time", graph_throttle_use_wall_time);
+    fuse_core::getParam(
+      interfaces_,
+      fuse_core::joinParameterName(name_, "graph_throttle_use_wall_time"),
+      graph_throttle_use_wall_time);
 
   graph_publisher_throttled_callback_.setThrottlePeriod(graph_throttle_period);
 
diff --git a/fuse_viz/include/fuse_viz/mapped_covariance_visual.hpp b/fuse_viz/include/fuse_viz/mapped_covariance_visual.hpp
index b4c37d2a1..484e727a6 100644
--- a/fuse_viz/include/fuse_viz/mapped_covariance_visual.hpp
+++ b/fuse_viz/include/fuse_viz/mapped_covariance_visual.hpp
@@ -221,12 +221,12 @@ class MappedCovarianceVisual : public rviz_rendering::Object
   void updateOrientation(const Eigen::Matrix6d & covariance, ShapeIndex index);
   void updateOrientationVisibility();
 
-  Ogre::SceneNode * root_node_;
-  Ogre::SceneNode * fixed_orientation_node_;
-  Ogre::SceneNode * position_scale_node_;
-  Ogre::SceneNode * position_node_;
+  Ogre::SceneNode * root_node_ = nullptr;
+  Ogre::SceneNode * fixed_orientation_node_ = nullptr;
+  Ogre::SceneNode * position_scale_node_ = nullptr;
+  Ogre::SceneNode * position_node_ = nullptr;
 
-  Ogre::SceneNode * orientation_root_node_;
+  Ogre::SceneNode * orientation_root_node_ = nullptr;
   Ogre::SceneNode * orientation_offset_node_[kNumOriShapes];
 
   rviz_rendering::Shape * position_shape_;                    //!< Ellipse used for the position
diff --git a/fuse_viz/include/fuse_viz/pose_2d_stamped_visual.hpp b/fuse_viz/include/fuse_viz/pose_2d_stamped_visual.hpp
index 4acefe0ae..dc240f7ad 100644
--- a/fuse_viz/include/fuse_viz/pose_2d_stamped_visual.hpp
+++ b/fuse_viz/include/fuse_viz/pose_2d_stamped_visual.hpp
@@ -150,10 +150,10 @@ class Pose2DStampedVisual : public rviz_rendering::Object
 private:
   void setPose2DStamped(const Ogre::Vector3 & position, const Ogre::Quaternion & orientation);
 
-  Ogre::SceneNode * root_node_;
-  Ogre::SceneNode * sphere_node_;
-  Ogre::SceneNode * axes_node_;
-  Ogre::SceneNode * text_node_;
+  Ogre::SceneNode * root_node_ = nullptr;
+  Ogre::SceneNode * sphere_node_ = nullptr;
+  Ogre::SceneNode * axes_node_ = nullptr;
+  Ogre::SceneNode * text_node_ = nullptr;
 
   bool visible_;
 
diff --git a/fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.hpp b/fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.hpp
index 0c40aca16..c13785839 100644
--- a/fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.hpp
+++ b/fuse_viz/include/fuse_viz/relative_pose_2d_stamped_constraint_visual.hpp
@@ -194,11 +194,11 @@ class RelativePose2DStampedConstraintVisual : public rviz_rendering::Object
   }
 
 private:
-  Ogre::SceneNode * root_node_;
-  Ogre::SceneNode * relative_pose_line_node_;
-  Ogre::SceneNode * error_line_node_;
-  Ogre::SceneNode * relative_pose_axes_node_;
-  Ogre::SceneNode * text_node_;
+  Ogre::SceneNode * root_node_ = nullptr;
+  Ogre::SceneNode * relative_pose_line_node_ = nullptr;
+  Ogre::SceneNode * error_line_node_ = nullptr;
+  Ogre::SceneNode * relative_pose_axes_node_ = nullptr;
+  Ogre::SceneNode * text_node_ = nullptr;
 
   std::shared_ptr<BillboardLine> relative_pose_line_;
   std::shared_ptr<BillboardLine> error_line_;
diff --git a/fuse_viz/src/mapped_covariance_visual.cpp b/fuse_viz/src/mapped_covariance_visual.cpp
index fe3123607..95105693c 100644
--- a/fuse_viz/src/mapped_covariance_visual.cpp
+++ b/fuse_viz/src/mapped_covariance_visual.cpp
@@ -315,16 +315,16 @@ MappedCovarianceVisual::MappedCovarianceVisual(
 MappedCovarianceVisual::~MappedCovarianceVisual()
 {
   delete position_shape_;
-  scene_manager_->destroySceneNode(position_node_->getName());
+  scene_manager_->destroySceneNode(position_node_);
 
   for (int i = 0; i < kNumOriShapes; i++) {
     delete orientation_shape_[i];
-    scene_manager_->destroySceneNode(orientation_offset_node_[i]->getName());
+    scene_manager_->destroySceneNode(orientation_offset_node_[i]);
   }
 
-  scene_manager_->destroySceneNode(position_scale_node_->getName());
-  scene_manager_->destroySceneNode(fixed_orientation_node_->getName());
-  scene_manager_->destroySceneNode(root_node_->getName());
+  scene_manager_->destroySceneNode(position_scale_node_);
+  scene_manager_->destroySceneNode(fixed_orientation_node_);
+  scene_manager_->destroySceneNode(root_node_);
 }
 
 void MappedCovarianceVisual::setCovariance(const geometry_msgs::msg::PoseWithCovariance & pose)
diff --git a/fuse_viz/src/pose_2d_stamped_visual.cpp b/fuse_viz/src/pose_2d_stamped_visual.cpp
index 372ae33ea..19f4a1773 100644
--- a/fuse_viz/src/pose_2d_stamped_visual.cpp
+++ b/fuse_viz/src/pose_2d_stamped_visual.cpp
@@ -90,10 +90,10 @@ Pose2DStampedVisual::Pose2DStampedVisual(
 Pose2DStampedVisual::~Pose2DStampedVisual()
 {
   delete text_;
-  scene_manager_->destroySceneNode(sphere_node_->getName());
-  scene_manager_->destroySceneNode(axes_node_->getName());
-  scene_manager_->destroySceneNode(text_node_->getName());
-  scene_manager_->destroySceneNode(root_node_->getName());
+  scene_manager_->destroySceneNode(sphere_node_);
+  scene_manager_->destroySceneNode(axes_node_);
+  scene_manager_->destroySceneNode(text_node_);
+  scene_manager_->destroySceneNode(root_node_);
 }
 
 void Pose2DStampedVisual::setPose2DStamped(
diff --git a/fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp b/fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp
index c83c1371f..49ee0b91b 100644
--- a/fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp
+++ b/fuse_viz/src/relative_pose_2d_stamped_constraint_visual.cpp
@@ -117,11 +117,11 @@ RelativePose2DStampedConstraintVisual::RelativePose2DStampedConstraintVisual(
 RelativePose2DStampedConstraintVisual::~RelativePose2DStampedConstraintVisual()
 {
   delete text_;
-  scene_manager_->destroySceneNode(relative_pose_line_node_->getName());
-  scene_manager_->destroySceneNode(error_line_node_->getName());
-  scene_manager_->destroySceneNode(relative_pose_axes_node_->getName());
-  scene_manager_->destroySceneNode(text_node_->getName());
-  scene_manager_->destroySceneNode(root_node_->getName());
+  scene_manager_->destroySceneNode(relative_pose_line_node_);
+  scene_manager_->destroySceneNode(error_line_node_);
+  scene_manager_->destroySceneNode(relative_pose_axes_node_);
+  scene_manager_->destroySceneNode(text_node_);
+  scene_manager_->destroySceneNode(root_node_);
 }
 
 void RelativePose2DStampedConstraintVisual::setConstraint(