diff --git a/include/behaviortree_ros/bt_action_node.h b/include/behaviortree_ros/bt_action_node.h
index a8c21bb..fc4a52a 100644
--- a/include/behaviortree_ros/bt_action_node.h
+++ b/include/behaviortree_ros/bt_action_node.h
@@ -169,10 +169,22 @@ class RosActionNode : public BT::ActionNodeBase
 template <class DerivedT> static
   void RegisterRosAction(BT::BehaviorTreeFactory& factory,
                          const std::string& registration_ID,
-                         ros::NodeHandle& node_handle)
+                         ros::NodeHandle& node_handle,
+                         const std::string& default_server_name = {} )
 {
-  NodeBuilder builder = [&node_handle](const std::string& name, const NodeConfiguration& config) {
-    return std::make_unique<DerivedT>(node_handle, name, config );
+  NodeBuilder builder = [&node_handle, default_server_name](const std::string& name, const NodeConfiguration& config) {
+    auto server_name_port = config.input_ports.find("server_name");
+    if (server_name_port != config.input_ports.end() && !server_name_port->second.empty()) {
+      return std::make_unique<DerivedT>(node_handle, name, config );
+    }
+
+    if (!default_server_name.empty()) {
+      auto new_config = config;
+      new_config.input_ports["server_name"] = default_server_name;
+      return std::make_unique<DerivedT>(node_handle, name, new_config );
+    }
+
+    throw std::runtime_error("server_name not given as port or default in RegisterRosAction");
   };
 
   TreeNodeManifest manifest;
diff --git a/include/behaviortree_ros/bt_service_node.h b/include/behaviortree_ros/bt_service_node.h
index a60eff6..64d5675 100644
--- a/include/behaviortree_ros/bt_service_node.h
+++ b/include/behaviortree_ros/bt_service_node.h
@@ -116,10 +116,22 @@ class RosServiceNode : public BT::SyncActionNode
 template <class DerivedT> static
   void RegisterRosService(BT::BehaviorTreeFactory& factory,
                      const std::string& registration_ID,
-                     ros::NodeHandle& node_handle)
+                     ros::NodeHandle& node_handle,
+                     const std::string& default_service_name = {} )
 {
-  NodeBuilder builder = [&node_handle](const std::string& name, const NodeConfiguration& config) {
-    return std::make_unique<DerivedT>(node_handle, name, config );
+  NodeBuilder builder = [&node_handle, default_service_name](const std::string& name, const NodeConfiguration& config) {
+    auto service_name_port = config.input_ports.find("service_name");
+    if (service_name_port != config.input_ports.end() && !service_name_port->second.empty()) {
+      return std::make_unique<DerivedT>(node_handle, name, config );
+    }
+
+    if (!default_service_name.empty()) {
+      auto new_config = config;
+      new_config.input_ports["service_name"] = default_service_name;
+      return std::make_unique<DerivedT>(node_handle, name, new_config );
+    }
+
+    throw std::runtime_error("service_name not given as port or default in RegisterRosService");
   };
 
   TreeNodeManifest manifest;
diff --git a/test/test_bt.cpp b/test/test_bt.cpp
index 7b5070d..5770e85 100644
--- a/test/test_bt.cpp
+++ b/test/test_bt.cpp
@@ -161,15 +161,13 @@ RosActionNode<behaviortree_ros::FibonacciAction>(handle, name, conf) {}
  <root >
      <BehaviorTree>
         <Sequence>
-            <AddTwoInts service_name = "add_two_ints"
-                        first_int = "3" second_int = "4"
+            <AddTwoInts first_int = "3" second_int = "4"
                         sum = "{add_two_result}" />
             <PrintValue message="{add_two_result}"/>
 
             <RetryUntilSuccessful num_attempts="4">
                 <Timeout msec="300">
-                    <Fibonacci server_name="fibonacci" order="5"
-                               result="{fibonacci_result}" />
+                    <Fibonacci order="5" result="{fibonacci_result}" />
                 </Timeout>
             </RetryUntilSuccessful>
             <PrintValue message="{fibonacci_result}"/>
@@ -186,8 +184,8 @@ int main(int argc, char **argv)
   BehaviorTreeFactory factory;
 
   factory.registerNodeType<PrintValue>("PrintValue");
-  RegisterRosService<AddTwoIntsAction>(factory, "AddTwoInts", nh);
-  RegisterRosAction<FibonacciServer>(factory, "Fibonacci", nh);
+  RegisterRosService<AddTwoIntsAction>(factory, "AddTwoInts", nh, "add_two_ints");
+  RegisterRosAction<FibonacciServer>(factory, "Fibonacci", nh, "fibonacci");
 
   auto tree = factory.createTreeFromText(xml_text);