diff --git a/include/roscontroller.h b/include/roscontroller.h
index b18aa1b..fddc23f 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -61,7 +61,7 @@ private:
 	int armstate;
 	int barrier;
 	int message_number=0;
-	std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by;
+	std::string bzzfile_name, fcclient_name, armclient, stream_client_name, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by;
 	bool rcclient;
 	bool multi_msg;
 	ros::ServiceClient mav_client;
@@ -75,6 +75,7 @@ private:
 	ros::Subscriber flight_status_sub;
 	ros::Subscriber obstacle_sub;
 	ros::Subscriber Robot_id_sub;
+	ros::ServiceClient stream_client;
 
 	/*Commands for flight controller*/
   	//mavros_msgs::CommandInt cmd_srv;
diff --git a/launch/launch_config/solo.yaml b/launch/launch_config/solo.yaml
index 7d3ceb4..7b33e06 100644
--- a/launch/launch_config/solo.yaml
+++ b/launch/launch_config/solo.yaml
@@ -5,6 +5,7 @@ topics:
   fcclient:   /mavros/cmd/command
   armclient:  /mavros/cmd/arming
   modeclient: /mavros/set_mode
+  stream:  /mavros/set_stream_rate
 type:
   gps  :  sensor_msgs/NavSatFix
   # for SITL Solo 
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 87cfde7..0081b91 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -133,7 +133,6 @@ namespace rosbzz_node{
 		node_handle.getParam("type/battery", battery_type);
 		m_smTopic_infos.insert(pair <std::string, std::string>(battery_topic, battery_type));
 
-
 		std::string status_topic, status_type;
 		node_handle.getParam("topics/status", status_topic);
 		node_handle.getParam("type/status", status_type);
@@ -146,6 +145,8 @@ namespace rosbzz_node{
   		else {ROS_ERROR("Provide an arm client name in Launch file"); system("rosnode kill rosbuzz_node");}  
   		if(node_handle.getParam("topics/modeclient", modeclient));
   		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");}
 	}
 
 	/*--------------------------------------------------------
@@ -170,6 +171,7 @@ namespace rosbzz_node{
 		arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
 		mode_client =  n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
 		mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
+		stream_client = n_c.serviceClient<mavros_msgs::StreamRate>(stream_client_name);
 
 		multi_msg=true;
 	}
@@ -684,7 +686,7 @@ namespace rosbzz_node{
 		message.request.stream_id = id;
 		message.request.message_rate = rate;
 		message.request.on_off = on_off;
-		if(mav_client.call(message)){
+		if(stream_client.call(message)){
 			ROS_INFO("Set Mode Service call successful!");
 		} else {
 			ROS_INFO("Set Mode Service call failed!");