diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index 524b7d8f..05375d6e 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -1290,15 +1290,15 @@
     return spawn, exec
   end
 
-  def spawnTeamBase(_x, _y, _z, _yaw)
+  def spawnTeamBase(_name, _x, _y, _z, _yaw)
     spawn = <<-HEREDOC
-    <spawn name='TEAMBASE'>
-      <name>TEAMBASE</name>
+    <spawn name='#{_name}'>
+      <name>#{_name}</name>
       <allow_renaming>false</allow_renaming>
       <world>#{$worldName}</world>
       <is_performer>false</is_performer>
       <sdf version='1.6'>
-      <model name='TEAMBASE'>
+      <model name='#{_name}'>
         <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
         <static>true</static>
         <link name='link'>
@@ -1318,10 +1318,10 @@
 
     exec = <<-HEREDOC
     <executable name='teambase_description'>
-      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     <executable name='teambase_ros_ign_bridge'>
-      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     HEREDOC
 
@@ -1384,13 +1384,15 @@
 
       spawnStringTmp, executables  = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)
 
-    elsif name == "TEAMBASE" and config == "TEAMBASE"
+    elsif config.upcase == "TEAMBASE"
       robotSpawned += 1
       if !teamBaseSpawned
         teamBaseSpawned = true
-        spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
+        spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
+      else
+        puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
       end
-    elsif config != "TEAMBASE"
+    else
       # Try a team-submitted vehicle.
       package = config.downcase
       installDir = `rospack find #{package}`.chomp
@@ -1432,8 +1434,6 @@
         spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
         executables = rosExecutables(name, $worldName)
       end
-    else
-      puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
     end
 
     if executables != nil
diff --git a/subt_ign/launch/cloudsim_bridge.ign b/subt_ign/launch/cloudsim_bridge.ign
index d0eefdeb..b5db900d 100644
--- a/subt_ign/launch/cloudsim_bridge.ign
+++ b/subt_ign/launch/cloudsim_bridge.ign
@@ -179,12 +179,12 @@
     "</executable>\n"
   end
 
-  def spawnTeamBase()
+  def spawnTeamBase(_name)
     "<executable name='teambase_description'>\n"\
-    "  <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>\n"\
+      "  <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='teambase_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>\n"\
+      "  <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"
   end
 %>
@@ -203,11 +203,11 @@
 <%  elsif robotConfigs[i][1] == "4" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5") %>
 <%=   spawnX4(robotNames[i],  robotConfigs[i][-1]) %>
 <%
-    elsif name == "TEAMBASE" and config == "TEAMBASE"
+    elsif config.upcase == "TEAMBASE"
       if !teamBaseSpawned
         teamBaseSpawned = true
 %>
-<%=     spawnTeamBase() %>
+<%=     spawnTeamBase(robotNames[i]) %>
 <%    end
     else
       # Try a team-submitted vehicle.
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index cde273fc..a6bf3297 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -1291,15 +1291,15 @@
     return spawn, exec
   end
 
-  def spawnTeamBase(_x, _y, _z, _yaw)
+  def spawnTeamBase(_name, _x, _y, _z, _yaw)
     spawn = <<-HEREDOC
-    <spawn name='TEAMBASE'>
-      <name>TEAMBASE</name>
+    <spawn name='#{_name}'>
+      <name>#{_name}</name>
       <allow_renaming>false</allow_renaming>
       <world>#{$worldName}</world>
       <is_performer>false</is_performer>
       <sdf version='1.6'>
-      <model name='TEAMBASE'>
+      <model name='#{_name}'>
         <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
         <static>true</static>
         <link name='link'>
@@ -1319,10 +1319,10 @@
 
     exec = <<-HEREDOC
     <executable name='teambase_description'>
-      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     <executable name='teambase_ros_ign_bridge'>
-      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     HEREDOC
 
@@ -1385,13 +1385,15 @@
 
       spawnStringTmp, executables  = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)
 
-    elsif name == "TEAMBASE" and config == "TEAMBASE"
+    elsif config.upcase == "TEAMBASE"
       robotSpawned += 1
       if !teamBaseSpawned
         teamBaseSpawned = true
-        spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
+        spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
+      else
+        puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
       end
-    elsif config != "TEAMBASE"
+    else
       # Try a team-submitted vehicle.
       package = config.downcase
       installDir = `rospack find #{package}`.chomp
@@ -1433,8 +1435,6 @@
         spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
         executables = rosExecutables(name, $worldName)
       end
-    else
-      puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
     end
 
     if executables != nil
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index 91853638..a599b932 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -1287,15 +1287,15 @@
     return spawn, exec
   end
 
-  def spawnTeamBase(_x, _y, _z, _yaw)
+  def spawnTeamBase(_name, _x, _y, _z, _yaw)
     spawn = <<-HEREDOC
-    <spawn name='TEAMBASE'>
-      <name>TEAMBASE</name>
+    <spawn name='#{_name}'>
+      <name>#{_name}</name>
       <allow_renaming>false</allow_renaming>
       <world>#{$worldName}</world>
       <is_performer>false</is_performer>
       <sdf version='1.6'>
-      <model name='TEAMBASE'>
+      <model name='#{_name}'>
         <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
         <static>true</static>
         <link name='link'>
@@ -1315,10 +1315,10 @@
 
     exec = <<-HEREDOC
     <executable name='teambase_description'>
-      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     <executable name='teambase_ros_ign_bridge'>
-      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     HEREDOC
 
@@ -1381,13 +1381,15 @@
 
       spawnStringTmp, executables  = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)
 
-    elsif name == "TEAMBASE" and config == "TEAMBASE"
+    elsif config.upcase == "TEAMBASE"
       robotSpawned += 1
       if !teamBaseSpawned
         teamBaseSpawned = true
-        spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
+        spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
+      else
+        puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
       end
-    elsif config != "TEAMBASE"
+    else
       # Try a team-submitted vehicle.
       package = config.downcase
       installDir = `rospack find #{package}`.chomp
@@ -1429,8 +1431,6 @@
         spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
         executables = rosExecutables(name, $worldName)
       end
-    else
-      puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
     end
 
     if executables != nil
diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign
index 1f1016f8..3f56068e 100644
--- a/subt_ign/launch/tunnel_circuit_practice.ign
+++ b/subt_ign/launch/tunnel_circuit_practice.ign
@@ -1290,15 +1290,15 @@
     return spawn, exec
   end
 
-  def spawnTeamBase(_x, _y, _z, _yaw)
+  def spawnTeamBase(_name, _x, _y, _z, _yaw)
     spawn = <<-HEREDOC
-    <spawn name='TEAMBASE'>
-      <name>TEAMBASE</name>
+    <spawn name='#{_name}'>
+      <name>#{_name}</name>
       <allow_renaming>false</allow_renaming>
       <world>#{$worldName}</world>
       <is_performer>false</is_performer>
       <sdf version='1.6'>
-      <model name='TEAMBASE'>
+      <model name='#{_name}'>
         <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
         <static>true</static>
         <link name='link'>
@@ -1318,10 +1318,10 @@
 
     exec = <<-HEREDOC
     <executable name='teambase_description'>
-      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     <executable name='teambase_ros_ign_bridge'>
-      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     HEREDOC
 
@@ -1384,13 +1384,15 @@
 
       spawnStringTmp, executables  = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)
 
-    elsif name == "TEAMBASE" and config == "TEAMBASE"
+    elsif config.upcase == "TEAMBASE"
       robotSpawned += 1
       if !teamBaseSpawned
         teamBaseSpawned = true
-        spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
+        spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
+      else
+        puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
       end
-    elsif config != "TEAMBASE"
+    else
       # Try a team-submitted vehicle.
       package = config.downcase
       installDir = `rospack find #{package}`.chomp
@@ -1432,8 +1434,6 @@
         spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
         executables = rosExecutables(name, $worldName)
       end
-    else
-      puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
     end
 
     if executables != nil
diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign
index 7dcfada5..09c9568c 100644
--- a/subt_ign/launch/urban_circuit.ign
+++ b/subt_ign/launch/urban_circuit.ign
@@ -1290,15 +1290,15 @@
     return spawn, exec
   end
 
-  def spawnTeamBase(_x, _y, _z, _yaw)
+  def spawnTeamBase(_name, _x, _y, _z, _yaw)
     spawn = <<-HEREDOC
-    <spawn name='TEAMBASE'>
-      <name>TEAMBASE</name>
+    <spawn name='#{_name}'>
+      <name>#{_name}</name>
       <allow_renaming>false</allow_renaming>
       <world>#{$worldName}</world>
       <is_performer>false</is_performer>
       <sdf version='1.6'>
-      <model name='TEAMBASE'>
+      <model name='#{_name}'>
         <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
         <static>true</static>
         <link name='link'>
@@ -1318,10 +1318,10 @@
 
     exec = <<-HEREDOC
     <executable name='teambase_description'>
-      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     <executable name='teambase_ros_ign_bridge'>
-      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
+      <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
     </executable>
     HEREDOC
 
@@ -1384,13 +1384,15 @@
 
       spawnStringTmp, executables  = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)
 
-    elsif name == "TEAMBASE" and config == "TEAMBASE"
+    elsif config.upcase == "TEAMBASE"
       robotSpawned += 1
       if !teamBaseSpawned
         teamBaseSpawned = true
-        spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
+        spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
+      else
+        puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
       end
-    elsif config != "TEAMBASE"
+    else
       # Try a team-submitted vehicle.
       package = config.downcase
       installDir = `rospack find #{package}`.chomp
@@ -1432,8 +1434,6 @@
         spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
         executables = rosExecutables(name, $worldName)
       end
-    else
-      puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
     end
 
     if executables != nil
diff --git a/subt_ros/launch/teambase_description.launch b/subt_ros/launch/teambase_description.launch
index fae2f5b4..bc460b8d 100644
--- a/subt_ros/launch/teambase_description.launch
+++ b/subt_ros/launch/teambase_description.launch
@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="TeamBase/robot_description" command="$(find xacro)/xacro '$(find teambase_description)/urdf/teambase.xacro'"/>
+  <arg name="name" doc="Name of TeamBase"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find teambase_description)/urdf/teambase.xacro' name:=$(arg name)"/>
 </launch>
diff --git a/subt_ros/launch/teambase_topics.launch b/subt_ros/launch/teambase_topics.launch
index 26de6110..4aed4b6d 100644
--- a/subt_ros/launch/teambase_topics.launch
+++ b/subt_ros/launch/teambase_topics.launch
@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <node pkg="tf2_ros" type="static_transform_publisher" name="tf_teambase_static" args="0 0 0.05 0 0 0 TeamBase TeamBase/link"/>
+  <arg name="name" default="TEAMBASE"/>
+  <node pkg="tf2_ros" type="static_transform_publisher" name="tf_teambase_static" args="0 0 0.05 0 0 0 $(arg name) $(arg name)/link"/>
 </launch>
diff --git a/teambase_description/urdf/teambase.xacro b/teambase_description/urdf/teambase.xacro
index 282359a6..427adfca 100644
--- a/teambase_description/urdf/teambase.xacro
+++ b/teambase_description/urdf/teambase.xacro
@@ -1,6 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot name="TeamBase" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:property name="robot_namespace" value="TeamBase"/>
+  <xacro:arg name="name" default="TeamBase"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
 
   <link name='${robot_namespace}/link'>
    <visual name='visual'>