diff --git a/config/gauss_local_server.yaml b/config/gauss_local_server.yaml
index ffa7f710aeede1a7ff40c0b801a88a7a3783c1a2..475883782cbc0a7ecf37e0667c79de80acd9bc73 100644
--- a/config/gauss_local_server.yaml
+++ b/config/gauss_local_server.yaml
@@ -15,6 +15,10 @@ mqtt:
 # deserializer: msgpack:loads
 bridge:
   - factory: mqtt_bridge.bridge:RosToMqttBridge
-    msg_type: iri_gnss_msgs.msg:Rpa_positioning_info
-    topic_from: /iri_gnss_data/rpa_positioning_info
-    topic_to: rpa_position
+    msg_type: gauss_ros.msg:RpaPositioningInfo
+    topic_from: /wolf_ros_node/rpa_positioning_info
+    topic_to: rpa_positioning_info
+  - factory: mqtt_bridge.bridge:RosToMqttBridge
+    msg_type: gauss_ros.msg:RpaStateInfo
+    topic_from: /wolf_ros_node/rpa_state_info
+    topic_to: rpa_state_info
diff --git a/config/gauss_remote_server.yaml b/config/gauss_remote_server.yaml
index e68489bbbf7cca1a2a017ece3270b703539bf149..ffe630d41fab74bf9b2b6e54914bab34eaaf57d1 100644
--- a/config/gauss_remote_server.yaml
+++ b/config/gauss_remote_server.yaml
@@ -15,6 +15,10 @@ mqtt:
 # deserializer: msgpack:loads
 bridge:
   - factory: mqtt_bridge.bridge:RosToMqttBridge
-    msg_type: gauss_ros.msg:Rpa_positioning_info
+    msg_type: gauss_ros.msg:RpaPositioningInfo
     topic_from: /wolf_ros_node/rpa_positioning_info
-    topic_to: rpa_position
+    topic_to: rpa_positioning_info
+  - factory: mqtt_bridge.bridge:RosToMqttBridge
+    msg_type: gauss_ros.msg:RpaStateInfo
+    topic_from: /wolf_ros_node/rpa_state_info
+    topic_to: rpa_state_info