diff --git a/carla_ros_bridge/src/carla_ros_bridge/pseudo_actor.py b/carla_ros_bridge/src/carla_ros_bridge/pseudo_actor.py
index 6cdfa0f9..7a70f13a 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/pseudo_actor.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/pseudo_actor.py
@@ -87,10 +87,10 @@ def get_prefix(self):
         :return: prefix
         :rtype: string
         """
-        if self.parent is not None:
-            return self.parent.get_prefix() + "/" + self.name
-        else:
-            return self.name
+        class_name = self.__class__.__name__
+        prefix = "" if self.parent is None else self.parent.get_prefix() + "/"
+        prefix += "{}{}/{}".format(prefix, class_name, self.name)
+        return prefix
 
     def get_topic_prefix(self):
         """