diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index 1dbde303757d2b95b3927d1809e8a898bfb9def3..d4480f4ba3fa6b5336c18a17271ff93ce321dde7 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -817,7 +817,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
 		case FETCH_YAML_CUSTOM_CONTROLLER_AGENT:
 		{
 			// Let the user know that this message was received
-			ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from this machine.");
+			ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from this agent.");
 			// Create a node handle to the parameter service running on this agent's machine
 			ros::NodeHandle nodeHandle_to_own_agent_parameter_service(namespace_to_own_agent_parameter_service);
 			// Call the function that fetches the parameters
@@ -831,8 +831,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
 			// Let the user know that this message was received
 			ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
 			// Create a node handle to the parameter service running on the coordinator machine
-			ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
-			ros::NodeHandle nodeHandle_to_coordinator_parameter_service(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
+			ros::NodeHandle nodeHandle_to_coordinator_parameter_service(namespace_to_coordinator_parameter_service);
 			// Call the function that fetches the parameters
 			fetchYamlParameters(nodeHandle_to_coordinator_parameter_service);
 			break;
@@ -1165,8 +1164,9 @@ int main(int argc, char* argv[]) {
 
     // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
     // for the parameter service that is running on the coordinate machine
-    //std::string m_ros_namespace = ros::getNamespace();
-    namespace_to_coordinator_parameter_service = "ParameterService";
+    // NOTE: the backslash here (i.e., "/") before the name of the node ("ParameterService")
+    //       is very important because it specifies that the name is global
+    namespace_to_coordinator_parameter_service = "/ParameterService";
 
     // Create a node handle to the parameter service running on the coordinator machine
     ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 72ea28231f09beb7a9fe5ab3107537d91c9a894c..993a2e1d1a51cf17b4ddbfcaefc97ca6dafcbe8e 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -809,8 +809,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
             // > and also from where the paramters are being fetched
             ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller. > Now fetching the parameter values from the coordinator.");
             // Create a node handle to the parameter service running on the coordinator machine
-            ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
-            ros::NodeHandle nodeHandle_to_coordinator_parameter_service(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
+            ros::NodeHandle nodeHandle_to_coordinator_parameter_service(namespace_to_coordinator_parameter_service);
             // Call the function that fetches the parameters
             fetchYamlParametersForSafeController(nodeHandle_to_coordinator_parameter_service);
             break;
@@ -1030,8 +1029,9 @@ int main(int argc, char* argv[])
 
     // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
     // for the parameter service that is running on the coordinate machine
-    //std::string m_ros_namespace = ros::getNamespace();
-    namespace_to_coordinator_parameter_service = "ParameterService";
+    // NOTE: the backslash here (i.e., "/") before the name of the node ("ParameterService")
+    //       is very important because it specifies that the name is global
+    namespace_to_coordinator_parameter_service = "/ParameterService";
 
     // Create a node handle to the parameter service running on the coordinator machine
     ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 9ead5c4800e8d7d2e3a94596529530003a55aa23..98a42079867b4981a54578e4deb1007a711e65ff 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -402,8 +402,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
             // Let the user know that this message was received
             ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
             // Create a node handle to the parameter service running on the coordinator machine
-            ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
-            ros::NodeHandle nodeHandle_to_coordinator_parameter_service(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
+            ros::NodeHandle nodeHandle_to_coordinator_parameter_service(namespace_to_coordinator_parameter_service);
             // Call the function that fetches the parameters
             fetchYamlParameters(nodeHandle_to_coordinator_parameter_service);
             break;
@@ -608,8 +607,9 @@ int main(int argc, char* argv[]) {
 
     // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
     // for the parameter service that is running on the coordinate machine
-    //std::string m_ros_namespace = ros::master::getNamespace();
-    namespace_to_coordinator_parameter_service = "ParameterService";
+    // NOTE: the backslash here (i.e., "/") before the name of the node ("ParameterService")
+    //       is very important because it specifies that the name is global
+    namespace_to_coordinator_parameter_service = "/ParameterService";
 
     // Create a node handle to the parameter service running on the coordinator machine
     ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();