diff --git a/examples/bt_allow_collisions.cpp b/examples/bt_allow_collisions.cpp
index 7faad5c..b67e497 100644
--- a/examples/bt_allow_collisions.cpp
+++ b/examples/bt_allow_collisions.cpp
@@ -62,7 +62,7 @@ static const char* xml_text = R"(
                                                 collision_object="{cylinder}"  />
             <AddObjectToPlanningScene  planning_scene_interface="{psi}" 
                                        collision_object="{cylinder}"/> 
-            <InitializeMTCTask        task="{mtc_task}" />
+            <InitializeMTCTask        task="{mtc_task}" task_name="allow_collisions" />
             <CreateMTCPipelinePlanner pipeline_id="ompl"
                                  planner_id="RRTConnect"
                                  solver="{rrt_connect}"
diff --git a/examples/bt_compute_ik.cpp b/examples/bt_compute_ik.cpp
index bcbc28b..5b18436 100644
--- a/examples/bt_compute_ik.cpp
+++ b/examples/bt_compute_ik.cpp
@@ -68,7 +68,7 @@ static const char* xml_text = R"(
                                                 collision_object="{cylinder}"  />
             <AddObjectToPlanningScene  planning_scene_interface="{psi}" 
                          collision_object="{cylinder}"/> 
-            <InitializeMTCTask        task="{mtc_task}" />
+            <InitializeMTCTask        task="{mtc_task}" task_name="compute_ik" />
             <CreateMTCPipelinePlanner pipeline_id="ompl"
                                  planner_id="RRTConnect"
                                  solver="{rrt_connect}"
diff --git a/examples/bt_demo.cpp b/examples/bt_demo.cpp
index 1798a08..904ec60 100644
--- a/examples/bt_demo.cpp
+++ b/examples/bt_demo.cpp
@@ -19,7 +19,7 @@ static const char* xml_text = R"(
 
      <BehaviorTree ID="MainTree">
         <Sequence name="root">
-            <InitializeMTCTask        task="{mtc_task}" />
+            <InitializeMTCTask        task="{mtc_task}" task_name="demo" />
             <CreateMTCCurrentState    stage="{stage}" />
             <MoveMTCStageToTask       child="{stage}" parent="{mtc_task}" />
             <PlanMTCTask              task="{mtc_task}" max_solutions="5" />
diff --git a/examples/bt_generate_place_pose.cpp b/examples/bt_generate_place_pose.cpp
index 1e34aa4..78dfdf8 100644
--- a/examples/bt_generate_place_pose.cpp
+++ b/examples/bt_generate_place_pose.cpp
@@ -71,7 +71,7 @@ static const char* xml_text = R"(
                                                 collision_object="{cylinder}"  />
             <AddObjectToPlanningScene  planning_scene_interface="{psi}" 
                          collision_object="{cylinder}"/> 
-            <InitializeMTCTask        task="{mtc_task}" />
+            <InitializeMTCTask        task="{mtc_task}" task_name="generate_place_pose" />
             <CreateMTCPipelinePlanner pipeline_id="ompl"
                                  planner_id="RRTConnect"
                                  solver="{rrt_connect}"
diff --git a/examples/bt_joint_interpolation_solver.cpp b/examples/bt_joint_interpolation_solver.cpp
index 0823da5..ccc22ec 100644
--- a/examples/bt_joint_interpolation_solver.cpp
+++ b/examples/bt_joint_interpolation_solver.cpp
@@ -23,7 +23,7 @@ static const char* xml_text = R"(
 
    <BehaviorTree ID="MainTree">
      <Sequence name="root">
-       <InitializeMTCTask        task="{mtc_task}" />
+       <InitializeMTCTask        task="{mtc_task}" task_name="joint_interpolation_solver" />
        <CreateMTCJointInterpolation  solver="{joint_solver}" />
        <CreateMTCCurrentState        stage="{stage}" />
        <MoveMTCStageToTask      child="{stage}" parent="{mtc_task}" />
diff --git a/examples/bt_move_relative.cpp b/examples/bt_move_relative.cpp
index ba836cc..e6b7031 100644
--- a/examples/bt_move_relative.cpp
+++ b/examples/bt_move_relative.cpp
@@ -23,7 +23,7 @@ static const char* xml_text = R"(
 
    <BehaviorTree ID="MainTree">
      <Sequence name="root">
-       <InitializeMTCTask        task="{mtc_task}" />
+       <InitializeMTCTask        task="{mtc_task}" task_name="move_relative" />
        <CreateMTCPipelinePlanner pipeline_id="ompl"
                                  planner_id="RRTConnect"
                                  solver="{rrt_connect}" />
diff --git a/examples/bt_move_to.cpp b/examples/bt_move_to.cpp
index 7a185c9..46a5f6b 100644
--- a/examples/bt_move_to.cpp
+++ b/examples/bt_move_to.cpp
@@ -23,7 +23,7 @@ static const char* xml_text = R"(
 
    <BehaviorTree ID="MainTree">
      <Sequence name="root">
-       <InitializeMTCTask        task="{mtc_task}" />
+       <InitializeMTCTask        task="{mtc_task}" task_name="move_to" />
        <CreateMTCPipelinePlanner pipeline_id="ompl"
                                  planner_id="RRTConnect"
                                  solver="{rrt_connect}"/>
diff --git a/examples/bt_pick_place.cpp b/examples/bt_pick_place.cpp
index 3b7517f..f2927f7 100644
--- a/examples/bt_pick_place.cpp
+++ b/examples/bt_pick_place.cpp
@@ -70,7 +70,7 @@ static const char* xml_text = R"(
             <AddObjectToPlanningScene planning_scene_interface="{psi}" collision_object="{cylinder}" />
 
             <!-- Create Task -->
-            <InitializeMTCTask task="{mtc_task}" />
+            <InitializeMTCTask task="{mtc_task}" task_name="pick_place" />
 
             <!-- Add properpties to the Task -->
             <SetMTCTaskPropertyString  stage="{mtc_task}"  property_name="eef"  property="{eef}" />
diff --git a/examples/bt_serial_container.cpp b/examples/bt_serial_container.cpp
index b1969ee..c23d5df 100644
--- a/examples/bt_serial_container.cpp
+++ b/examples/bt_serial_container.cpp
@@ -24,7 +24,7 @@ static const char* xml_text = R"(
 
    <BehaviorTree ID="MainTree">
      <Sequence name="root">
-       <InitializeMTCTask        task="{mtc_task}" />
+       <InitializeMTCTask        task="{mtc_task}" task_name="serial_container" />
        <CreateMTCPipelinePlanner pipeline_id="ompl"
                                  planner_id="RRTConnect"
                                  solver="{rrt_connect}" />
diff --git a/src/initialize_mtc_task.cpp b/src/initialize_mtc_task.cpp
index d046891..dbaef0f 100644
--- a/src/initialize_mtc_task.cpp
+++ b/src/initialize_mtc_task.cpp
@@ -12,7 +12,13 @@ InitializeMTCTask::InitializeMTCTask(const std::string& name,
 
 BT::NodeStatus InitializeMTCTask::tick()
 {
+  std::string task_name;
+
+  if(!getInput("task_name", task_name))
+    return NodeStatus::FAILURE;
+
   auto task = std::make_shared<moveit::task_constructor::Task>();
+  task->setName(task_name);
   task->loadRobotModel();
 
   setOutput("task", task);
@@ -25,6 +31,7 @@ BT::PortsList InitializeMTCTask::providedPorts()
   return {
     BT::OutputPort<moveit::task_constructor::TaskPtr>("task", "{mtc_task}",
                                                       "MoveIt Task Constructor task."),
+    BT::InputPort<std::string>("task_name", "task pipeline", "MoveIt Task Constructor task name.")
   };
 }