diff --git a/motion/lqr_controller/lqr_controller/lqr_controller_node.py b/motion/lqr_controller/lqr_controller/lqr_controller_node.py
index 1253de53..18bebe0c 100644
--- a/motion/lqr_controller/lqr_controller/lqr_controller_node.py
+++ b/motion/lqr_controller/lqr_controller/lqr_controller_node.py
@@ -28,7 +28,7 @@ def __init__(self):
             ])
         
         self.state_subscriber_ = self.create_subscription(Odometry, "/sensor/seapath/odom/ned", self.state_cb, qos_profile=qos_profile)
-        self.guidance_subscriber_ = self.create_subscription(Odometry, "controller/lqr/reference", self.guidance_cb, 1)
+        self.guidance_subscriber_ = self.create_subscription(Odometry, "guidance/dp/reference", self.guidance_cb, 1)
         self.wrench_publisher_ = self.create_publisher(Wrench, "thrust/wrench_input", 1)
 
         Q = self.get_parameter('lqr_controller.Q').get_parameter_value().double_array_value
@@ -56,7 +56,7 @@ def __init__(self):
     def state_cb(self, msg):
         self.state = odometrymsg_to_state(msg)
 
-    self.guidance_cb(self, msg):
+    def guidance_cb(self, msg):
         self.x_ref = odometrymsg_to_state(msg)[:3]
 
     def controller_callback(self):