diff --git a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.hpp b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.hpp
index 788dced0d2..3ba5355e72 100644
--- a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.hpp
+++ b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.hpp
@@ -77,7 +77,8 @@ class RDFLoader
             bool default_continuous_value = false, double default_timeout = 10.0);
 
   /** @brief Initialize the robot model from a string representation of the URDF and SRDF documents */
-  RDFLoader(const std::string& urdf_string, const std::string& srdf_string);
+  RDFLoader(const std::string& urdf_string, const std::string& srdf_string,
+            const std::string& ros_name = "robot_description");
 
   /** @brief Get the resolved parameter name for the robot description */
   const std::string& getRobotDescription() const
diff --git a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
index de43e05744..ed25e0412a 100644
--- a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
+++ b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
@@ -87,8 +87,8 @@ RDFLoader::RDFLoader(const std::shared_ptr<rclcpp::Node>& node, const std::strin
   RCLCPP_INFO_STREAM(getLogger(), "Loaded robot model in " << (node->now() - start).seconds() << " seconds");
 }
 
-RDFLoader::RDFLoader(const std::string& urdf_string, const std::string& srdf_string)
-  : urdf_string_(urdf_string), srdf_string_(srdf_string)
+RDFLoader::RDFLoader(const std::string& urdf_string, const std::string& srdf_string, const std::string& ros_name)
+  : ros_name_(ros_name), urdf_string_(urdf_string), srdf_string_(srdf_string)
 {
   if (!loadFromStrings())
   {