diff --git a/src/modules/left_locomotion/left_locomotion.cpp b/src/modules/left_locomotion/left_locomotion.cpp
index 108a2af..20f5ca3 100644
--- a/src/modules/left_locomotion/left_locomotion.cpp
+++ b/src/modules/left_locomotion/left_locomotion.cpp
@@ -51,7 +51,7 @@ static uint32_t error_flag;
 extern "C" void task_left_locomotion_fn(void) {
     ros_echronos::ROS_INFO("Entered CAN task. Initializing...\n");
     ros_echronos::NodeHandle nh;
-    nh.init("left_locomotion_fn", "left_locomotion_fn", RTOS_INTERRUPT_EVENT_ID_CAN_RECEIVE_EVENT, RTOS_SIGNAL_ID_CAN_RECEIVE_SIGNAL, RTOS_SIGNAL_ID_ROS_PROMISE_SIGNAL);
+    nh.init("left", "left", RTOS_INTERRUPT_EVENT_ID_CAN_RECEIVE_EVENT, RTOS_SIGNAL_ID_CAN_RECEIVE_SIGNAL, RTOS_SIGNAL_ID_ROS_PROMISE_SIGNAL);
     ros_echronos::ROS_INFO("Done init\n");
 
     ros_echronos::ROS_INFO("Initalising left locomotion subscribers\n");
diff --git a/src/modules/right_locomotion/right_locomotion.cpp b/src/modules/right_locomotion/right_locomotion.cpp
index 2aee8b1..1808fa3 100644
--- a/src/modules/right_locomotion/right_locomotion.cpp
+++ b/src/modules/right_locomotion/right_locomotion.cpp
@@ -56,7 +56,7 @@ static uint32_t error_flag;
 extern "C" void task_right_locomotion_fn(void) {
     ros_echronos::ROS_INFO("Entered CAN task. Initializing...\n");
     ros_echronos::NodeHandle nh;
-    nh.init("right_locomotion_fn", "right_locomotion_fn", RTOS_INTERRUPT_EVENT_ID_CAN_RECEIVE_EVENT, RTOS_SIGNAL_ID_CAN_RECEIVE_SIGNAL, RTOS_SIGNAL_ID_ROS_PROMISE_SIGNAL);
+    nh.init("right", "right", RTOS_INTERRUPT_EVENT_ID_CAN_RECEIVE_EVENT, RTOS_SIGNAL_ID_CAN_RECEIVE_SIGNAL, RTOS_SIGNAL_ID_ROS_PROMISE_SIGNAL);
     ros_echronos::ROS_INFO("Done init\n");
 
     ros_echronos::ROS_INFO("Initalising right locomotion subscribers\n");
diff --git a/src/modules/ros_sub_test/ros_sub_test.cpp b/src/modules/ros_sub_test/ros_sub_test.cpp
index 7eaef4d..38484ef 100644
--- a/src/modules/ros_sub_test/ros_sub_test.cpp
+++ b/src/modules/ros_sub_test/ros_sub_test.cpp
@@ -38,7 +38,7 @@ extern "C" void task_ros_sub_test_fn(void) {
     ros_echronos::ROS_INFO("Done init\n");
 
     ros_echronos::ROS_INFO("sub init\n");
-    ros_echronos::Subscriber<owr_messages::pwm> sub("aaa", (owr_messages::pwm*)pwm_buffer, 5, callback);
+    ros_echronos::Subscriber<owr_messages::pwm> sub("/aaa", (owr_messages::pwm*)pwm_buffer, 5, callback);
     sub.init(nh, RTOS_SIGNAL_ID_ROS_PROMISE_SIGNAL);
     ros_echronos::ROS_INFO("starting the main loop\n");
     owr_messages::pwm msg;