diff --git a/launch/launch_config/topics.yaml b/launch/launch_config/topics.yaml
index 29ce56c..6596247 100644
--- a/launch/launch_config/topics.yaml
+++ b/launch/launch_config/topics.yaml
@@ -1,12 +1,12 @@
 topics:
-  gps     :   global_position/global
-  battery :   battery
-  status  :   state
-  estatus :   extended_state
-  setpoint:   setpoint_position/local
-  localpos: local_position/pose
-  altitude: global_position/rel_alt
-  obstacles: obstacles
+  gps       :   mavros/global_position/global
+  battery   :   mavros/battery
+  status    :   mavros/state
+  estatus   :   mavros/extended_state
+  setpoint  :   mavros/setpoint_position/local
+  localpos  :   mavros/local_position/pose
+  altitude  :   mavros/global_position/rel_alt
+  obstacles :   mavros/obstacles
   inpayload:  inMavlink
   outpayload: outMavlink
   gridn: grid
@@ -16,9 +16,9 @@ topics:
   targetf: targets_found
   yolobox: intermediator_ros/bounding_boxes
 services:
-  fcclient:   cmd/command
-  armclient:  cmd/arming
-  modeclient: set_mode
-  stream:  set_stream_rate
+  fcclient:   mavros/cmd/command
+  armclient:  mavros/cmd/arming
+  modeclient: mavros/set_mode
+  stream:  mavros/set_stream_rate
   rcservice:  buzzcmd
   netstatus:  network_status
\ No newline at end of file