diff --git a/buzz_scripts/include/act/states.bzz b/buzz_scripts/include/act/states.bzz
index f0d2af2..c00c78b 100644
--- a/buzz_scripts/include/act/states.bzz
+++ b/buzz_scripts/include/act/states.bzz
@@ -15,7 +15,7 @@ GOTO_MAXDIST = 150 # m.
 GOTODIST_TOL = 1.0  # m.
 GOTOANG_TOL = 0.1 # rad.
 path_it = 0
-graphid = 0
+graphid = 3
 pic_time = 0
 g_it = 0
 
diff --git a/include/roscontroller.h b/include/roscontroller.h
index f1604f0..0ed4756 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -52,6 +52,7 @@ typedef enum {
 #define COM_DELAY 100000000 // in nano seconds i.e 100 ms
 #define TIME_SYNC_JUMP_THR 500000000 
 #define MOVING_AVERAGE_ALPHA 0.1
+#define MAX_NUMBER_OF_ROBOTS 10
 
 #define TIMEOUT 60
 #define BUZZRATE 10
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 220522b..c03a33e 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -392,12 +392,12 @@ void roscontroller::Initialize_pub_sub(ros::NodeHandle& n_c)
 
   Subscribe(n_c);
 
-  payload_sub = n_c.subscribe(in_payload, 5, &roscontroller::payload_obt, this);
+  payload_sub = n_c.subscribe(in_payload, MAX_NUMBER_OF_ROBOTS, &roscontroller::payload_obt, this);
 
   // 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", 5);
+  neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("neighbours_pos", MAX_NUMBER_OF_ROBOTS);
   uavstate_pub = n_c.advertise<std_msgs::String>("uavstate", 5);
   grid_pub = n_c.advertise<nav_msgs::OccupancyGrid>("grid", 5);
   localsetpoint_nonraw_pub = n_c.advertise<geometry_msgs::PoseStamped>(setpoint_name, 5);