diff --git a/src/modelec_com/include/modelec_com/pcb_odo_interface.hpp b/src/modelec_com/include/modelec_com/pcb_odo_interface.hpp
index 2622810..f5a5b09 100644
--- a/src/modelec_com/include/modelec_com/pcb_odo_interface.hpp
+++ b/src/modelec_com/include/modelec_com/pcb_odo_interface.hpp
@@ -56,7 +56,7 @@ namespace Modelec
         rclcpp::Subscription<modelec_interfaces::msg::OdometryWaypoints>::SharedPtr odo_add_waypoints_subscriber_;
         rclcpp::Subscription<modelec_interfaces::msg::OdometryPos>::SharedPtr odo_set_pos_subscriber_;
         rclcpp::Subscription<modelec_interfaces::msg::OdometryPid>::SharedPtr odo_set_pid_subscriber_;
-        rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr cmd_vel_subscriber_;
+        rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_subscriber_;
 
         void AddWaypointCallback(const modelec_interfaces::msg::OdometryWaypoint::SharedPtr msg);
         void AddWaypointsCallback(const modelec_interfaces::msg::OdometryWaypoints::SharedPtr msg);
diff --git a/src/modelec_com/src/pcb_odo_interface.cpp b/src/modelec_com/src/pcb_odo_interface.cpp
index 50a9e3b..bc5ed8c 100644
--- a/src/modelec_com/src/pcb_odo_interface.cpp
+++ b/src/modelec_com/src/pcb_odo_interface.cpp
@@ -69,8 +69,8 @@ namespace Modelec
                 SetPIDCallback(msg);
             });
 
-        cmd_vel_subscriber_ = this->create_subscription<sensor_msgs::msg::Joy>(
-            "cmd_vel", 30,
+        joy_subscriber_ = this->create_subscription<sensor_msgs::msg::Joy>(
+            "joy", 30,
             [this](const sensor_msgs::msg::Joy::SharedPtr msg)
             {
                 double forward = msg->axes[1];