diff --git a/include/roscontroller.h b/include/roscontroller.h
index 4169307..74db7ae 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -111,6 +111,7 @@ private:
 	ros::Subscriber Robot_id_sub;
 	ros::Subscriber relative_altitude_sub;
 
+	std::string local_pos_sub_name;
 	ros::Subscriber local_pos_sub;
 	double local_pos_new[3];
 
diff --git a/launch/launch_config/solo.yaml b/launch/launch_config/solo.yaml
index c53989a..6ad2ec8 100644
--- a/launch/launch_config/solo.yaml
+++ b/launch/launch_config/solo.yaml
@@ -6,6 +6,7 @@ topics:
   setpoint:   mavros/setpoint_position/local
   armclient:  mavros/cmd/arming
   modeclient: mavros/set_mode
+  localpos: /mavros/local_position/pose
   stream:  mavros/set_stream_rate
   altitude: mavros/global_position/rel_alt
 type:
diff --git a/script/testsolo.bo b/script/testsolo.bo
index d44323f..294076a 100644
Binary files a/script/testsolo.bo and b/script/testsolo.bo differ
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 84b7bff..b26e649 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -215,7 +215,8 @@ namespace rosbzz_node{
   		else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}  
   		if(node_handle.getParam("topics/stream", stream_client_name));
   		else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}
-
+  		if(node_handle.getParam("topics/localpos", local_pos_sub_name));
+  		else {ROS_ERROR("Provide a localpos name in YAML file"); system("rosnode kill rosbuzz_node");}
 
 
 
@@ -250,9 +251,9 @@ namespace rosbzz_node{
 		stream_client = n_c.serviceClient<mavros_msgs::StreamRate>(stream_client_name);
                 
   		users_sub = n_c.subscribe("users_pos", 1000, &roscontroller::users_pos,this);
+  		local_pos_sub = n_c.subscribe(local_pos_sub_name, 1000, &roscontroller::local_pos_callback, this);
+
 
-  		local_pos_sub = n_c.subscribe("/local_position", 1000, &roscontroller::local_pos_callback, this);
-                
 		multi_msg=true;
 	}
 	/*---------------------------------------