diff --git a/Mybuddy/mybuddy/launch/mybuddy_follow.launch b/Mybuddy/mybuddy/launch/mybuddy_follow.launch
index b001a4b..e0c6930 100644
--- a/Mybuddy/mybuddy/launch/mybuddy_follow.launch
+++ b/Mybuddy/mybuddy/launch/mybuddy_follow.launch
@@ -4,7 +4,7 @@
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
 		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
 	</node>
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
diff --git a/Mybuddy/mybuddy/launch/slider_control.launch b/Mybuddy/mybuddy/launch/slider_control.launch
index 17e1882..e056f92 100644
--- a/Mybuddy/mybuddy/launch/slider_control.launch
+++ b/Mybuddy/mybuddy/launch/slider_control.launch
@@ -9,8 +9,8 @@
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> 
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
 		<param name="use_gui" value="$(arg gui)" />	
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
 	</node>