diff --git a/husarion_ugv_battery/README.md b/husarion_ugv_battery/README.md
index 263ea2526..c4d943fdf 100644
--- a/husarion_ugv_battery/README.md
+++ b/husarion_ugv_battery/README.md
@@ -33,11 +33,11 @@ Publishes battery state read from ADC unit.
 
 #### Parameters
 
-- `~/adc.device0` [*string*, default: **/sys/bus/iio/devices/iio:device0**]: ADC number 0 IIO device.
-- `~/adc.device1` [*string*, default: **/sys/bus/iio/devices/iio:device1**]: ADC number 1 IIO device.
-- `~/adc.ma_window_len.charge` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery charge readings.
-- `~/adc.ma_window_len.temp` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery temperature readings.
-- `~/battery_timeout` [*float*, default: **1.0**]: Specifies the timeout in seconds. If the node fails to read battery data exceeding this duration, the node will publish an unknown battery state.
-- `~/ma_window_len.voltage` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery voltage readings.
-- `~/ma_window_len.current` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery current readings.
-- `~/roboteq.driver_state_timeout` [*float*, default: **0.2**]: Specifies timeout in seconds after which driver state messages will be considered old (deprecated).
+- `adc.device0` [*string*, default: **/sys/bus/iio/devices/iio:device0**]: ADC number 0 IIO device.
+- `adc.device1` [*string*, default: **/sys/bus/iio/devices/iio:device1**]: ADC number 1 IIO device.
+- `adc.ma_window_len.charge` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery charge readings.
+- `adc.ma_window_len.temp` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery temperature readings.
+- `battery_timeout` [*float*, default: **1.0**]: Specifies the timeout in seconds. If the node fails to read battery data exceeding this duration, the node will publish an unknown battery state.
+- `ma_window_len.voltage` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery voltage readings.
+- `ma_window_len.current` [*int*, default: **10**]: Window length of a moving average, used to smooth out battery current readings.
+- `roboteq.driver_state_timeout` [*float*, default: **0.2**]: Specifies timeout in seconds after which driver state messages will be considered old (deprecated).
diff --git a/husarion_ugv_diagnostics/README.md b/husarion_ugv_diagnostics/README.md
index b47d4e675..222a21a28 100644
--- a/husarion_ugv_diagnostics/README.md
+++ b/husarion_ugv_diagnostics/README.md
@@ -23,8 +23,8 @@ Publishes the built-in computer system status , monitoring parameters as such as
 
 #### Parameters
 
-- `~/cpu_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for CPU usage warning in percentage.
-- `~/cpu_temperature_warn_threshold` [*float*, default: **80.0**]: Threshold for CPU temperature warning in degrees Celsius.
-- `~/ram_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for memory usage warning in percentage.
-- `~/disk_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for disk usage warning in percentage.
-- `~/publish_frequency` [*double*, default: **5.0**]: System status publishing frequency [Hz].
+- `cpu_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for CPU usage warning in percentage.
+- `cpu_temperature_warn_threshold` [*float*, default: **80.0**]: Threshold for CPU temperature warning in degrees Celsius.
+- `ram_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for memory usage warning in percentage.
+- `disk_usage_warn_threshold` [*float*, default: **95.0**]: Threshold for disk usage warning in percentage.
+- `publish_frequency` [*double*, default: **5.0**]: System status publishing frequency [Hz].
diff --git a/husarion_ugv_lights/README.md b/husarion_ugv_lights/README.md
index c69675e0e..c84d13c15 100644
--- a/husarion_ugv_lights/README.md
+++ b/husarion_ugv_lights/README.md
@@ -32,9 +32,9 @@ This node is of type rclcpp_components is responsible for processing animations
 
 #### Parameters
 
-- `~/animations_config_path` [*string*, default: **$(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml**]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
-- `~/controller_frequency` [*float*, default: **50.0**]: Frequency [Hz] at which the lights controller node will process animations.
-- `~/user_led_animations_path` [*string*, default: **None**]: Path to a YAML file with a description of the user defined animations.
+- `animations_config_path` [*string*, default: **$(find husarion_ugv_lights)/husarion_ugv_lights/config/{robot_model}_animations.yaml**]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
+- `controller_frequency` [*float*, default: **50.0**]: Frequency [Hz] at which the lights controller node will process animations.
+- `user_led_animations_path` [*string*, default: **None**]: Path to a YAML file with a description of the user defined animations.
 
 ### LightsDriverNode
 
@@ -59,7 +59,7 @@ This node is of type rclcpp_components is responsible for displaying frames on t
 
 #### Parameters
 
-- `~/frame_timeout` [*float*, default: **0.1**]: Time in **[s]** after which an incoming frame will be considered too old.
-- `~/global_brightness` [*float*, default: **1.0**]: LED global brightness. The range between **[0.0, 1.0]**.
-- `~/channel_1_num_led` [*int*, default: **46**]: Number of LEDs in the first bumper.
-- `~/channel_2_num_led` [*int*, default: **46**]: Number of LEDs in the second bumper.
+- `frame_timeout` [*float*, default: **0.1**]: Time in **[s]** after which an incoming frame will be considered too old.
+- `global_brightness` [*float*, default: **1.0**]: LED global brightness. The range between **[0.0, 1.0]**.
+- `channel_1_num_led` [*int*, default: **46**]: Number of LEDs in the first bumper.
+- `channel_2_num_led` [*int*, default: **46**]: Number of LEDs in the second bumper.