diff --git a/mur/mur_launch_hardware/launch/mur620a.launch b/mur/mur_launch_hardware/launch/mur620a.launch
index 097cad3e..f9e87d5e 100644
--- a/mur/mur_launch_hardware/launch/mur620a.launch
+++ b/mur/mur_launch_hardware/launch/mur620a.launch
@@ -37,6 +37,7 @@
         <arg name="ur_l_rpy" value="$(arg ur_l_rpy)"/>
         <arg name="ur_r_xyz" value="$(arg ur_r_xyz)"/>
         <arg name="ur_r_rpy" value="$(arg ur_r_rpy)"/>
+        <arg name="battery_node_id" value="0x0340"/>
     </include>
 
     <!-- static transform_publisher node to complete the tf-tree -->
diff --git a/mur/mur_launch_hardware/launch/mur620b.launch b/mur/mur_launch_hardware/launch/mur620b.launch
index 3af8290b..be024e2b 100644
--- a/mur/mur_launch_hardware/launch/mur620b.launch
+++ b/mur/mur_launch_hardware/launch/mur620b.launch
@@ -38,6 +38,7 @@
         <arg name="ur_l_rpy" value="$(arg ur_l_rpy)"/>
         <arg name="ur_r_xyz" value="$(arg ur_r_xyz)"/>
         <arg name="ur_r_rpy" value="$(arg ur_r_rpy)"/>
+        <arg name="battery_node_id" value="0x0140"/>
     </include>
 
     <!-- static transform_publisher node to complete the tf-tree -->