diff --git a/mypalletizer_260/mypalletizer_communication/launch/communication_topic_pi.launch b/mypalletizer_260/mypalletizer_communication/launch/communication_topic_pi.launch
index 53d7672..c436d28 100644
--- a/mypalletizer_260/mypalletizer_communication/launch/communication_topic_pi.launch
+++ b/mypalletizer_260/mypalletizer_communication/launch/communication_topic_pi.launch
@@ -1,9 +1,9 @@
 <launch>
-	<arg name="port" default="/dev/ttyAMA0" />
-	<arg name="baud" default="1000000" />
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
 
 	<!-- Open communication service -->
-	<node name="mypalletizer_pi_services" pkg="mypalletizer_communication" type="mypal_topics_pi.py" output="screen">
+	<node name="mycobot_services" pkg="mycobot_communication" type="mycobot_topics_pi.py" output="screen">
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
     	</node>
diff --git a/mypalletizer_260/mypalletizer_communication/scripts/mypal_services.py b/mypalletizer_260/mypalletizer_communication/scripts/mypal_services.py
old mode 100755
new mode 100644
diff --git a/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics.py b/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics.py
old mode 100755
new mode 100644
index 363ac81..820aa6e
--- a/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics.py
+++ b/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics.py
@@ -9,7 +9,7 @@ import threading
 import rospy
 from pymycobot.mypalletizer import MyPalletizer
 
-from mypalletizer_communication.msg import(
+from mypalletizer_communication import(
     MypalAngles,
     MypalCoords,
     MypalSetAngles,
diff --git a/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics_seeed.py b/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics_seeed.py
old mode 100755
new mode 100644
index 8882e2d..24adab9
--- a/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics_seeed.py
+++ b/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics_seeed.py
@@ -70,8 +70,8 @@ class MypalTopics(object):
         rospy.init_node("Mypal_topics")
         rospy.loginfo("start ...")
         # problem
-        port = rospy.get_param("~port", "/dev/ttyAMA0")
-        baud = rospy.get_param("~baud", 1000000)
+        port = rospy.get_param("~port", "/dev/ttyUSB0")
+        baud = rospy.get_param("~baud", 115200)
         rospy.loginfo("%s,%s" % (port, baud))
         self.mc = MyPalletizer(port,baud)
         self.lock = threading.Lock()