diff --git a/CMakeLists.txt b/CMakeLists.txt
index a54cab7..962e5a5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,8 +56,8 @@ include_directories(
 add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp  src/CommunicationManager.cpp)
 target_link_libraries(xbee_mav ${catkin_LIBRARIES})
 
-#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
-#target_link_libraries(config ${catkin_LIBRARIES})
+add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
+target_link_libraries(config ${catkin_LIBRARIES})
 
 #add_executable(test_controller src/TestController.cpp)
 #target_link_libraries(test_controller ${catkin_LIBRARIES})
diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch
index b2e7c80..ead9515 100644
--- a/launch/xbeemav.launch
+++ b/launch/xbeemav.launch
@@ -1,8 +1,8 @@
 <launch>
 	<!--  xmee_mav Drone type and Commununication Mode -->
 	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master solo" output="screen" -->
-	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master swarm" output="screen" -->
-	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" />
+	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master swarm" output="screen"/>
+	<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" -->
 	<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" -->
 	<!--  xmee_mav Topics and Services Names -->
 	<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
diff --git a/src/XMLConfigParser.cpp b/src/XMLConfigParser.cpp
index 525e75e..42ad314 100644
--- a/src/XMLConfigParser.cpp
+++ b/src/XMLConfigParser.cpp
@@ -23,7 +23,7 @@ XMLConfigParser::~XMLConfigParser()
 //*****************************************************************************
 bool XMLConfigParser::Load_Config()
 {
-	const std::string FILE_NAME = "/home/mistlab/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml";
+	const std::string FILE_NAME = "/home/ubuntu/ROS_WS/src/xbeemav/Resources/XBee_Config.xml";
 
 	if (Check_Config_File_Exists(FILE_NAME))
 	{