diff --git a/config/omniwheels_config.yaml b/config/omniwheels_config.yaml
index 7da006515acef2554deb51c55751b820bffc090c..8bd041b0ed8e426d55f8fbabc34b50501c3a35de 100644
--- a/config/omniwheels_config.yaml
+++ b/config/omniwheels_config.yaml
@@ -1,6 +1,6 @@
 # configuration file for all the omniwheels 
-name: "omniwheel1"
-id: 1
+name: "omniwheel2"
+id: 2
 channel: 90 # change to the correct one
 type: default
 position_offset: 0.11 # ofsset from crazyflie module to the cenyter of the omniwheels
diff --git a/scripts/__pycache__/SimplePI.cpython-37.pyc b/scripts/__pycache__/SimplePI.cpython-37.pyc
index 367ecb7e4cf6ad3b1c9d85960607279f4cfee9b2..d5c9c1aa044657e416993b72a44433c91525b1f6 100644
Binary files a/scripts/__pycache__/SimplePI.cpython-37.pyc and b/scripts/__pycache__/SimplePI.cpython-37.pyc differ
diff --git a/scripts/omni_wheel_controller_node.py b/scripts/omni_wheel_controller_node.py
index 8127a284f1048c518bba82a79ac1ba38198cf299..0ee957cb2c5326029d18312b10121d29086a4764 100755
--- a/scripts/omni_wheel_controller_node.py
+++ b/scripts/omni_wheel_controller_node.py
@@ -76,8 +76,8 @@ class omniWheelvelocityController:
                 rospy.Subscriber("vel_cmd", Twist, self.velocityCommandCallback)
                 # pose and velocity values
                 ss = rospy.get_param("/name")
-                ss_pose = "/" + ss+"/pose";
-                ss_vel= "/" + ss+"/vel";
+                ss_pose = "pose";
+                ss_vel= "vel";
                 rospy.Subscriber(ss_pose, Pose, self.poseCallback)
                 rospy.Subscriber(ss_vel, Twist, self.velCallback)
 
@@ -100,8 +100,6 @@ class omniWheelvelocityController:
 
                 # main loop
                 while not rospy.is_shutdown():
-
-
                         if self.vel_cmd_arrived == True and self.vel_callback_initiated == True and self.pose_callback_initiated==True:
                                 # compute motor values from velocity command
                                 roll, pitch,yaw = euler_from_quaternion(self._current_pose.orientation.x,self._current_pose.orientation.y,self._current_pose.orientation.z,self._current_pose.orientation.w)