diff --git a/roscontrol_sot_talos/CMakeLists.txt b/roscontrol_sot_talos/CMakeLists.txt
index 3600b5acbd89e348cd3ff30060d5b317d2a05b8e..ad938780c7199e29375b42c9017a3f7cac218fc6 100644
--- a/roscontrol_sot_talos/CMakeLists.txt
+++ b/roscontrol_sot_talos/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(talos_roscontrol_sot_talos)
+project(roscontrol_sot_talos)
 
 find_package(PkgConfig REQUIRED)
 
@@ -35,7 +35,7 @@ catkin_package()
 # include_directories(include)
 include_directories( 
   ${catkin_INCLUDE_DIRS}
-  )
+)
 
 
 ## Add cmake target dependencies of the executable
diff --git a/roscontrol_sot_talos/launch/sot_talos_controller_effort.launch b/roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
index 3930105e66da7017fa053b2a9fd6369bc6e31333..50760dea972cc84f18ee3bdc2a13d02fb2fd1552 100644
--- a/roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
+++ b/roscontrol_sot_talos/launch/sot_talos_controller_effort.launch
@@ -1,9 +1,9 @@
 <launch>
 
   <!-- Sot Controller configuration -->
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/pids.yaml" />
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/pids.yaml" />
   
   <env name="PYTHONPATH" value="/opt/pal/dubnium/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/site-packages" />
   <!-- Spawn walking controller -->
diff --git a/roscontrol_sot_talos/launch/sot_talos_controller_gazebo.launch b/roscontrol_sot_talos/launch/sot_talos_controller_gazebo.launch
index c141507b4f919cdd641e9457f1a16fb26202c180..eba77497010b56752ad90d57bdf507308eafe980 100644
--- a/roscontrol_sot_talos/launch/sot_talos_controller_gazebo.launch
+++ b/roscontrol_sot_talos/launch/sot_talos_controller_gazebo.launch
@@ -1,12 +1,12 @@
 <launch>
 
   <!-- Sot Controller configuration -->
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_params_gazebo.yaml"/>
-  <rosparam command="load" file="$(find talos_roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_gazebo.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
   
   <!-- Spawn walking controller -->
   <node name="sot_controller_spawner"
-        pkg="talos_controller_manager" type="spawner" output="screen"
+        pkg="controller_manager" type="spawner" output="screen"
         args="sot_controller" />
 
 </launch>