diff --git a/ff_drivers/launch/hardware_bringup.launch.py b/ff_drivers/launch/hardware_bringup.launch.py
index df549b8..f30f09f 100644
--- a/ff_drivers/launch/hardware_bringup.launch.py
+++ b/ff_drivers/launch/hardware_bringup.launch.py
@@ -53,7 +53,7 @@ def generate_launch_description():
                 # ASL optitrack IP and port
                 parameters=[
                     {
-                        "server": "192.168.1.8",
+                        "server": "192.168.1.2",
                         "port": 3883,
                     }
                 ],
diff --git a/ff_drivers/src/thruster_node.cpp b/ff_drivers/src/thruster_node.cpp
index 28e7815..7a1e9a3 100644
--- a/ff_drivers/src/thruster_node.cpp
+++ b/ff_drivers/src/thruster_node.cpp
@@ -59,7 +59,7 @@ class ThrusterNode : public rclcpp::Node
 
     // listen to commands
     sub_thruster_ = this->create_subscription<ThrusterCommand>(
-      "commands/binary_thruster",
+      "commands/binary_thrust",
       10,
       [this](const ThrusterCommand::SharedPtr msg) {ThrusterCommandCallback(msg);});
   }