diff --git a/include/roscontroller.h b/include/roscontroller.h
index a483077..dac0b3b 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -142,19 +142,9 @@ private:
   bool debug = false;
   bool setmode = false;
   std::string bzzfile_name;
-  std::string fcclient_name;
-  std::string armclient;
-  std::string modeclient;
-  std::string rcservice_name;
   std::string bcfname, dbgfname;
-  std::string out_payload;
-  std::string in_payload;
   std::string stand_by;
-  std::string xbeesrv_name;
   std::string capture_srv_name;
-  std::string setpoint_name;
-  std::string stream_client_name;
-  std::string setpoint_nonraw;
 
   // ROS service, publishers and subscribers
   ros::ServiceClient mav_client;
@@ -195,7 +185,7 @@ private:
   ros::ServiceClient mode_client;
 
   //  Initialize publisher and subscriber, done in the constructor
-  void Initialize_pub_sub(ros::NodeHandle& n_c);
+  void Initialize_pub_sub(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv);
 
   std::string current_mode;
 
@@ -280,6 +270,7 @@ private:
 
   /*Robot independent subscribers*/
   void Subscribe(ros::NodeHandle& n_c);
+  void PubandServ(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv);
 
   void local_pos_callback(const geometry_msgs::PoseStamped::ConstPtr& pose);
 
diff --git a/launch/launch_config/topics.yaml b/launch/launch_config/topics.yaml
index 9e33d37..82efabe 100644
--- a/launch/launch_config/topics.yaml
+++ b/launch/launch_config/topics.yaml
@@ -3,11 +3,20 @@ topics:
   battery :   battery
   status  :   state
   estatus :   extended_state
-  fcclient:   cmd/command
   setpoint:   setpoint_position/local
-  armclient:  cmd/arming
-  modeclient: set_mode
   localpos: local_position/pose
-  stream:  set_stream_rate
   altitude: global_position/rel_alt
   obstacles: obstacles
+  inpayload:  inMavlink
+  outpayload: outMavlink
+  gridn: grid
+  bstate: bvmstate
+  npose: neighbours_pos
+  fstatus: fleet_status
+services:
+  fcclient:   cmd/command
+  armclient:  cmd/arming
+  modeclient: set_mode
+  stream:  set_stream_rate
+  rcservice:  buzzcmd
+  netstatus:  network_status
\ No newline at end of file
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index 8744eab..6ab3f50 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -13,14 +13,9 @@
   <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
     <rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
     <param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
-    <param name="rcclient" value="true" />
     <param name="debug" value="$(arg debug)" />
-    <param name="rcservice_name" value="buzzcmd" />
-    <param name="in_payload" value="inMavlink"/>
-    <param name="out_payload" value="outMavlink"/>
     <param name="xbee_plugged" value="$(arg xbee_plugged)"/>
     <param name="name" value="$(arg name)"/>
-    <param name="xbee_status_srv" value="network_status"/>
     <param name="setmode" value="$(arg setmode)"/>
     <param name="stand_by" value="$(find rosbuzz)/buzz_scripts/stand_by.bzz"/>
   </node>
diff --git a/launch/rosbuzzd.launch b/launch/rosbuzzd.launch
index 00a1f4b..0b34233 100644
--- a/launch/rosbuzzd.launch
+++ b/launch/rosbuzzd.launch
@@ -13,14 +13,9 @@
   <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" launch-prefix="gdb -ex run --args">
     <rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
     <param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
-    <param name="rcclient" value="true" />
     <param name="debug" value="$(arg debug)" />
-    <param name="rcservice_name" value="buzzcmd" />
-    <param name="in_payload" value="inMavlink"/>
-    <param name="out_payload" value="outMavlink"/>
     <param name="xbee_plugged" value="$(arg xbee_plugged)"/>
     <param name="name" value="$(arg name)"/>
-    <param name="xbee_status_srv" value="network_status"/>
     <param name="setmode" value="$(arg setmode)"/>
     <param name="stand_by" value="$(find rosbuzz)/buzz_scripts/stand_by.bzz"/>
   </node>
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 6b188d6..d3756a6 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -22,7 +22,7 @@ logical_clock(ros::Time()), previous_step_time(ros::Time())
   //  Obtain parameters from ros parameter server
   Rosparameters_get(n_c_priv);
   //  Initialize publishers, subscribers and client
-  Initialize_pub_sub(n_c);
+  Initialize_pub_sub(n_c, n_c_priv);
   //  Compile the .bzz file to .basm, .bo and .bdbg
   std::string fname = Compile_bzz(bzzfile_name);
   bcfname = fname + ".bo";
@@ -255,31 +255,6 @@ void roscontroller::Rosparameters_get(ros::NodeHandle& n_c)
     ROS_ERROR("Provide a setmode mode in Launch file");
     system("rosnode kill rosbuzz_node");
   }
-  // Obtain rc service option from parameter server
-  if (n_c.getParam("rcclient", rcclient))
-  {
-    if (rcclient == true)
-    {
-      if (!n_c.getParam("rcservice_name", rcservice_name))
-      {
-        ROS_ERROR("Provide a name topic name for rc service in Launch file");
-        system("rosnode kill rosbuzz_node");
-      }
-    }
-    else if (rcclient == false)
-    {
-      ROS_INFO("RC service is disabled");
-    }
-  }
-  else
-  {
-    ROS_ERROR("Provide a rc client option: yes or no in Launch file");
-    system("rosnode kill rosbuzz_node");
-  }
-  // Obtain out payload name
-  n_c.getParam("out_payload", out_payload);
-  //  Obtain in payload name
-  n_c.getParam("in_payload", in_payload);
   //  Obtain standby script to run during update
   n_c.getParam("stand_by", stand_by);
 
@@ -300,8 +275,6 @@ void roscontroller::Rosparameters_get(ros::NodeHandle& n_c)
       system("rosnode kill rosbuzz_node");
     }
   }
-  else
-    n_c.getParam("xbee_status_srv", xbeesrv_name);
 
   if (!n_c.getParam("capture_image_srv", capture_srv_name))
   {
@@ -313,7 +286,7 @@ void roscontroller::Rosparameters_get(ros::NodeHandle& n_c)
 
 void roscontroller::GetSubscriptionParameters(ros::NodeHandle& node_handle)
 /*
-/Obtains publisher, subscriber and services from yml config file
+/ Obtains subscribers names from yaml config file
 /-----------------------------------------------------------------------------------*/
 {
   std::string topic;
@@ -348,74 +321,122 @@ void roscontroller::GetSubscriptionParameters(ros::NodeHandle& node_handle)
   node_handle.getParam("topics/altitude", topic);
   m_smTopic_infos.insert(pair<std::string, std::string>(topic, "std_msgs/Float64"));
 
-  // Obtain required topic and service names from the parameter server
-  if (node_handle.getParam("topics/fcclient", fcclient_name))
-    ;
+  node_handle.getParam("topics/inpayload", topic);
+  m_smTopic_infos.insert(pair<std::string, std::string>(topic, "mavros_msgs::Mavlink"));
+}
+
+void roscontroller::PubandServ(ros::NodeHandle& n_c, ros::NodeHandle& node_handle)
+/*
+/ Obtains publishers and services names from yaml config file
+/-----------------------------------------------------------------------------------*/
+{
+  std::string topic;
+  if (node_handle.getParam("services/fcclient", topic))
+    mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(topic);
   else
   {
-    ROS_ERROR("Provide a fc client name in Launch file");
+    ROS_ERROR("Provide a fc client name in YAML file");
     system("rosnode kill rosbuzz_node");
   }
-  if (node_handle.getParam("topics/setpoint", setpoint_name))
-    ;
+  if (node_handle.getParam("topics/setpoint", topic))
+    localsetpoint_nonraw_pub = n_c.advertise<geometry_msgs::PoseStamped>(topic, 5);
   else
   {
-    ROS_ERROR("Provide a Set Point name in Launch file");
+    ROS_ERROR("Provide a Set Point name in YAML file");
     system("rosnode kill rosbuzz_node");
   }
-  if (node_handle.getParam("topics/armclient", armclient))
-    ;
+  if (node_handle.getParam("services/armclient", topic))
+    arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(topic);
   else
   {
-    ROS_ERROR("Provide an arm client name in Launch file");
+    ROS_ERROR("Provide an arm service name in YAML file");
     system("rosnode kill rosbuzz_node");
   }
-  if (node_handle.getParam("topics/modeclient", modeclient))
-    ;
+  if (node_handle.getParam("services/modeclient", topic))
+  {
+    if(setmode)
+      mode_client = n_c.serviceClient<mavros_msgs::SetMode>(topic);
+  }
   else
   {
-    ROS_ERROR("Provide a mode client name in Launch file");
+    ROS_ERROR("Provide a set mode service name in YAML file");
     system("rosnode kill rosbuzz_node");
   }
-  if (node_handle.getParam("topics/stream", stream_client_name))
-    ;
+  if (node_handle.getParam("services/stream", topic))
+    stream_client = n_c.serviceClient<mavros_msgs::StreamRate>(topic);
   else
   {
-    ROS_ERROR("Provide a mode client name in Launch file");
+    ROS_ERROR("Provide a set stream rate service name in YAML file");
+    system("rosnode kill rosbuzz_node");
+  }
+  if (node_handle.getParam("services/rcservice", topic))
+    service = n_c.advertiseService(topic, &roscontroller::rc_callback, this);
+  else
+  {
+    ROS_ERROR("Provide a remote controler service name in YAML file");
+    system("rosnode kill rosbuzz_node");
+  }
+  if (node_handle.getParam("services/netstatus", topic))
+    xbeestatus_srv = n_c.serviceClient<mavros_msgs::ParamGet>(topic);
+  else
+  {
+    ROS_ERROR("Provide a network status service name in YAML file");
+    system("rosnode kill rosbuzz_node");
+  }
+  if (node_handle.getParam("topics/outpayload", topic))
+    payload_pub = n_c.advertise<mavros_msgs::Mavlink>(topic, 5);
+  else
+  {
+    ROS_ERROR("Provide a Mavlink MSG out topic name in YAML file");
+    system("rosnode kill rosbuzz_node");
+  }
+  if (node_handle.getParam("topics/fstatus", topic))
+    MPpayload_pub = n_c.advertise<mavros_msgs::Mavlink>(topic, 5);
+  else
+  {
+    ROS_ERROR("Provide a fleet status out topic name in YAML file");
+    system("rosnode kill rosbuzz_node");
+  }
+  if (node_handle.getParam("topics/npose", topic))
+    neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>(topic, MAX_NUMBER_OF_ROBOTS);
+  else
+  {
+    ROS_ERROR("Provide a Neighbor pose out topic name in YAML file");
+    system("rosnode kill rosbuzz_node");
+  }
+  if (node_handle.getParam("topics/bstate", topic))
+    bvmstate_pub = n_c.advertise<std_msgs::String>(topic, 5);
+  else
+  {
+    ROS_ERROR("Provide a BVM state out topic name in YAML file");
+    system("rosnode kill rosbuzz_node");
+  }
+  if (node_handle.getParam("topics/gridn", topic))
+    grid_pub = n_c.advertise<nav_msgs::OccupancyGrid>(topic, 5);
+  else
+  {
+    ROS_ERROR("Provide a grid topic name in YAML file");
     system("rosnode kill rosbuzz_node");
   }
 }
 
-void roscontroller::Initialize_pub_sub(ros::NodeHandle& n_c)
+void roscontroller::Initialize_pub_sub(ros::NodeHandle& n_c, ros::NodeHandle& n_c_priv)
 /*
 / Create all required subscribers, publishers and ROS service clients
 /-------------------------------------------------------*/
 {
-  // subscribers
+  // Subscribers
 
   Subscribe(n_c);
 
-  payload_sub = n_c.subscribe(in_payload, MAX_NUMBER_OF_ROBOTS, &roscontroller::payload_obt, this);
+  // Publishers and service Clients
 
-  // publishers
-  payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 5);
-  MPpayload_pub = n_c.advertise<mavros_msgs::Mavlink>("fleet_status", 5);
-  neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("neighbours_pos", MAX_NUMBER_OF_ROBOTS);
-  bvmstate_pub = n_c.advertise<std_msgs::String>("bvmstate", 5);
-  grid_pub = n_c.advertise<nav_msgs::OccupancyGrid>("grid", 5);
-  localsetpoint_nonraw_pub = n_c.advertise<geometry_msgs::PoseStamped>(setpoint_name, 5);
-
-  // Service Clients
-  arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
-  if(setmode)
-    mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
-  mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
-  if (rcclient)
-    service = n_c.advertiseService(rcservice_name, &roscontroller::rc_callback, this);
+  PubandServ(n_c, n_c_priv);
+  
   ROS_INFO("Ready to receive Mav Commands from RC client");
-  xbeestatus_srv = n_c.serviceClient<mavros_msgs::ParamGet>(xbeesrv_name);
+  
   capture_srv = n_c.serviceClient<mavros_msgs::CommandBool>(capture_srv_name);
-  stream_client = n_c.serviceClient<mavros_msgs::StreamRate>(stream_client_name);
+  
 
   multi_msg = true;
 }
@@ -455,6 +476,10 @@ void roscontroller::Subscribe(ros::NodeHandle& n_c)
     {
       obstacle_sub = n_c.subscribe(it->first, 5, &roscontroller::obstacle_dist_callback, this);
     }
+    else if (it->second == "mavros_msgs::Mavlink")
+    {
+      payload_sub = n_c.subscribe(it->first, MAX_NUMBER_OF_ROBOTS, &roscontroller::payload_obt, this);
+    }
 
     std::cout << "Subscribed to: " << it->first << endl;
   }