diff --git a/youbot_drivers/youbot_oodl/launch/youbot_joint_state_publisher.launch b/youbot_drivers/youbot_oodl/launch/youbot_joint_state_publisher.launch
index 987a968..e629379 100644
--- a/youbot_drivers/youbot_oodl/launch/youbot_joint_state_publisher.launch
+++ b/youbot_drivers/youbot_oodl/launch/youbot_joint_state_publisher.launch
@@ -6,7 +6,7 @@
 		<!-- remap from="joint_states" to="youbot_state"/> -->
 	
 	<!-- start robot_state_publisher assuming /joint_states is the default topic -->
-	<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen"/>
+	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
 	
 	<!-- start robot_state_publisher assuming /joint_states is not the default topic and the drivers default topics are used -->
 	<!--
@@ -19,4 +19,4 @@
 	</node>
 	-->
 	
-</launch>
\ No newline at end of file
+</launch>
diff --git a/youbot_manipulation/simple_trajectory_controller/src/youbot_trajectory_controller.cpp b/youbot_manipulation/simple_trajectory_controller/src/youbot_trajectory_controller.cpp
index e2c8982..a20cea9 100644
--- a/youbot_manipulation/simple_trajectory_controller/src/youbot_trajectory_controller.cpp
+++ b/youbot_manipulation/simple_trajectory_controller/src/youbot_trajectory_controller.cpp
@@ -116,13 +116,11 @@ int main(int argc, char **argv) {
   command.positions = armJointPositions;
 
   armPositionsPublisher = n.advertise<brics_actuator::JointPositions > ("arm_1/arm_controller/position_command", 1);
-  ros::spinOnce();
 
   ros::Subscriber armTrajectory;
   armTrajectory = n.subscribe("/arm_controller/follow_joint_trajectory/goal", 1, trajectoryCallback);
 
   ros::Duration(1).sleep();
-  ros::spinOnce();
 
   moveToInitPos(command);
   //ros::Duration(10).sleep();