diff --git a/launch/node.launch b/launch/node.launch
index 76b5fec5f4050389925b1128346e960b7f6a6189..4d7f8192687adcf455074d57d0c50a50973601c0 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -2,11 +2,11 @@
 <launch>
   
   <arg name="node_name" default="twist_to_manual_control"/>
-  <arg name="invert_speed"    default="True"/>
-  <arg name="invert_steering" default="False"/>
+  <arg name="invert_speed"    default="False"/>
+  <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"/>
+  <arg name="steering_topic"  default="/steering"/>
+  <arg name="speed_topic"     default="/speed"/>
 
   <node pkg ="iri_twist_to_manual_control"
         type="iri_twist_to_manual_control"
@@ -16,9 +16,9 @@
     <remap from="~steering" to="$(arg steering_topic)"/>
     <remap from="~speed"    to="$(arg speed_topic)"/>
       
-    <param name="steering_min"  value="50"/>
-    <param name="steering_zero" value="80"/>
-    <param name="steering_max"  value="110"/>
+    <param name="steering_min"  value="0"/>
+    <param name="steering_zero" value="90"/>
+    <param name="steering_max"  value="180"/>
 
     <param name="angular_sat_min" value="-1.0"/>
     <param name="angular_sat_max" value="1.0"/>
diff --git a/launch/teleop_keyboard.launch b/launch/teleop_keyboard.launch
index 89dbeae46ffea5b3ddb8dc7ceb4e43651a9a72e3..72ce2582cafca77d56c89074f956485c1fb78d1b 100644
--- a/launch/teleop_keyboard.launch
+++ b/launch/teleop_keyboard.launch
@@ -2,8 +2,8 @@
 <launch>
 
   <arg name="name" default="teleop_keyboard"/>
-  <arg name="speed_topic"    default="/manual_control/speed"/>
-  <arg name="steering_topic" default="/manual_control/steering"/>
+  <arg name="speed_topic"    default="/speed"/>
+  <arg name="steering_topic" default="/steering"/>
 
   <node pkg ="teleop_twist_keyboard" 
         name="teleop_twist_keyboard" 
@@ -14,8 +14,8 @@
 
   <include file="$(find iri_twist_to_manual_control)/launch/node.launch">
     <arg name="node_name"       value="$(arg name)_twist_to_manual_control"/>
-    <arg name="invert_speed"    value="True"/>
-    <arg name="invert_steering" value="False"/>
+    <arg name="invert_speed"    value="False"/>
+    <arg name="invert_steering" value="True"/>
     <arg name="twist_topic"     default="$(arg name)/cmd_vel"/>
     <arg name="steering_topic"  value="$(arg steering_topic)"/>
     <arg name="speed_topic"     value="$(arg speed_topic)"/>
diff --git a/launch/teleop_ps3.launch b/launch/teleop_ps3.launch
index ed23f98ff7dd20966c989a6ad17a9bc1934e5d55..1e38641cfa7bfa4cf9afd8ce25916be86d3058d1 100644
--- a/launch/teleop_ps3.launch
+++ b/launch/teleop_ps3.launch
@@ -4,8 +4,8 @@
   <arg name="name" default="teleop_ps3"/>
   <arg name="dev"  default="/dev/input/ps3joy"/>
   <arg name="config_filepath" default="$(find twist_to_manual_control)/config/ps3.yaml" />
-  <arg name="speed_topic"    default="/manual_control/speed"/>
-  <arg name="steering_topic" default="/manual_control/steering"/>
+  <arg name="speed_topic"    default="/speed"/>
+  <arg name="steering_topic" default="/steering"/>
 
   <node pkg="joy" type="joy_node" name="joy_node">
     <param name="dev" value="$(arg dev)" />
@@ -20,8 +20,8 @@
 
   <include file="$(find iri_twist_to_manual_control)/launch/node.launch">
     <arg name="node_name"       value="$(arg name)_twist_to_manual_control"/>
-    <arg name="invert_speed"    value="True"/>
-    <arg name="invert_steering" value="False"/>
+    <arg name="invert_speed"    value="False"/>
+    <arg name="invert_steering" value="True"/>
     <arg name="twist_topic"     default="$(arg name)/cmd_vel"/>
     <arg name="steering_topic"  value="$(arg steering_topic)"/>
     <arg name="speed_topic"     value="$(arg speed_topic)"/>