diff --git a/CMakeLists.txt b/CMakeLists.txt
index a0adbeb..1e8ead7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,7 +9,7 @@ endif()
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
- # mavros_msgs
+  mavros_msgs
   sensor_msgs
 )
 
diff --git a/include/roscontroller.h b/include/roscontroller.h
index ce82fae..2d7c015 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -24,8 +24,6 @@
 using namespace std;
 
 namespace rosbzz_node{
-/*Create node Handler*/
-//ros::NodeHandle n_c;
 	
 class roscontroller{
 
@@ -54,7 +52,7 @@ private:
 	ros::Subscriber payload_sub;
 	ros::Subscriber flight_status_sub;
 	/*Commands for flight controller*/
-  		mavros_msgs::CommandInt cmd_srv;	
+  	mavros_msgs::CommandInt cmd_srv;	
   	
 
 	void Initialize_pub_sub(ros::NodeHandle n_c);
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index 05a4870..222f4db 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -2,11 +2,11 @@
 
 <launch>
 		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
-		<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz" />
+		<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test.bzz" />
                 <param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="rc_cmd" />
 		<param name="fcclient_name" value="/djicmd" />
-		<param name="in_payload" value="/rosbuzz_node1/outMavlink"/>
+		<param name="in_payload" value="outMavlink"/>
 		<param name="out_payload" value="outMavlink"/>
 		<param name="robot_id" value="1"/>
 		</node>
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index aaec61e..4a71d3d 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -3,12 +3,10 @@
 
 
 namespace rosbzz_node{
-/*Create node Handler*/
 
 	/***Constructor***/
 	roscontroller::roscontroller(ros::NodeHandle n_c)	
 	{
-		/*Create node Handler*/
 		
 		ROS_INFO("Buzz_node");
 		/*Obtain parameters from ros parameter server*/