diff --git a/cfg/TwistToManualControl.cfg b/cfg/TwistToManualControl.cfg
index 50e2aba3087aec816c519f61dfd65d5da26fceec..5653edace40cf54776be2154dfb819d437fb1157 100755
--- a/cfg/TwistToManualControl.cfg
+++ b/cfg/TwistToManualControl.cfg
@@ -54,7 +54,4 @@ gen.add("linear_sat_max", double_t, 0, "Minimum input linear speed ",  0.5, -5.0
 gen.add("invert_speed",    bool_t, 0, "Invert speed signum",       False)
 gen.add("invert_steering", bool_t, 0, "Invert steering direction", False)
 
-
-
-
 exit(gen.generate(PACKAGE, "TwistToManualControlAlgorithm", "TwistToManualControl"))
diff --git a/launch/node.launch b/launch/node.launch
index 4c779e603e3ab7597febf22326f3627ca461855f..ba8fdd4eef80b397c4a15b81e2b58cd550377574 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -4,35 +4,34 @@
   <arg name="node_name" default="twist_to_manual_control"/>
   <arg name="invert_speed"    default="True"/>
   <arg name="invert_steering" default="True"/>
+  <arg name="twist_topic"     default="/cmd_vel"/>
+  <arg name="steering_topic"  default="/manual_control/steering"/>
+  <arg name="speed_topic"     default="/manual_control/speed"/>
 
-<!--  <group ns="$(optenv ROBOT car)">-->
-
-    <node pkg ="twist_to_manual_control"
-          type="twist_to_manual_control"
-          name="$(arg node_name)"
-          output="screen">
-      <remap from="~cmd_vel"  to="/cmd_vel"/>
-      <remap from="~steering" to="/manual_control/steering"/>
-      <remap from="~speed"    to="/manual_control/speed"/>
-       
-      <param name="steering_min"  value="20"/>
-      <param name="steering_zero" value="90"/>
-      <param name="steering_max"  value="160"/>
-
-      <param name="angular_sat_min" value="-1.0"/>
-      <param name="angular_sat_max" value="1.0"/>
-      
-      <param name="speed_min"  value="-1000"/>
-      <param name="speed_zero" value="0"/>
-      <param name="speed_max"  value="1000"/>
-      
-      <param name="linear_sat_min" value="-1.0"/>
-      <param name="linear_sat_max" value="1.0"/>
+  <node pkg ="twist_to_manual_control"
+        type="twist_to_manual_control"
+        name="$(arg node_name)"
+        output="screen">
+    <remap from="~cmd_vel"  to="$(arg twist_topic)"/>
+    <remap from="~steering" to="$(arg steering_topic)"/>
+    <remap from="~speed"    to="$(arg speed_topic)"/>
       
-      <param name="invert_speed"    value="$(arg invert_speed)"/>
-      <param name="invert_steering" value="$(arg invert_steering)"/>
-    </node>
+    <param name="steering_min"  value="30"/>
+    <param name="steering_zero" value="90"/>
+    <param name="steering_max"  value="150"/>
 
-<!--  </group>-->
+    <param name="angular_sat_min" value="-1.0"/>
+    <param name="angular_sat_max" value="1.0"/>
+    
+    <param name="speed_min"  value="-1000"/>
+    <param name="speed_zero" value="0"/>
+    <param name="speed_max"  value="1000"/>
+    
+    <param name="linear_sat_min" value="-1.0"/>
+    <param name="linear_sat_max" value="1.0"/>
+    
+    <param name="invert_speed"    value="$(arg invert_speed)"/>
+    <param name="invert_steering" value="$(arg invert_steering)"/>
+  </node>
 
 </launch>