diff --git a/launch/wave_rover.launch.py b/launch/wave_rover.launch.py
index a7d9bdd..0640448 100644
--- a/launch/wave_rover.launch.py
+++ b/launch/wave_rover.launch.py
@@ -56,10 +56,21 @@ def generate_launch_description():
     #     ],
     # )
 
-    joy_wave_rover_controller_node = Node(
+    # joy_wave_rover_controller_node = Node(
+    #     package="wave_rover_controller",
+    #     executable="joy_control_node",
+    #     name="joy_control",
+    #     # output="screen",
+    #     namespace=LaunchConfiguration("namespace"),
+    #     parameters=[
+    #         ParameterFile(joy_params),
+    #         {'serial_port': '/dev/ttyUSB0'}]
+    # )
+
+    wave_rover_node = Node(
         package="wave_rover_controller",
-        executable="joy_control_node",
-        name="joy_control",
+        executable="wave_rover_node",
+        name="wave_rover_node",
         # output="screen",
         namespace=LaunchConfiguration("namespace"),
         parameters=[
@@ -71,6 +82,6 @@ def generate_launch_description():
         launch_args
         + [
             joy,
-            joy_wave_rover_controller_node,
+            wave_rover_controller_node,
             ]
     )