diff --git a/launch/launch_config/m100.yaml b/launch/launch_config/m100.yaml
index 758aa8e..f9cb809 100644
--- a/launch/launch_config/m100.yaml
+++ b/launch/launch_config/m100.yaml
@@ -4,6 +4,7 @@ topics:
   status   :   /flight_status
   fcclient :   /dji_mavcmd
   setpoint :   /setpoint_raw/local
+  setpoint_nonraw :   /setpoint_position/local
   armclient:   /dji_mavarm
   modeclient:  /dji_mavmode
   altitude: /rel_alt
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index bdc3437..80dfb55 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -133,12 +133,10 @@ namespace rosbzz_node{
   		n_c.getParam("out_payload", out_payload);
 		/*Obtain in payload name*/
   		n_c.getParam("in_payload", in_payload);
-		/*Obtain Number of robots for barrier*/
-		n_c.getParam("No_of_Robots", barrier);
 		/*Obtain standby script to run during update*/
 		n_c.getParam("stand_by", stand_by);
 		n_c.getParam("xbee_status_srv", xbeesrv_name);
-		
+
 		GetSubscriptionParameters(n_c);
 		// initialize topics to null?