diff --git a/src/tools/uav_viewer_py/gui/cameraWidget.py b/src/tools/uav_viewer_py/gui/cameraWidget.py
index 84af07f61..3c1c2ba0c 100644
--- a/src/tools/uav_viewer_py/gui/cameraWidget.py
+++ b/src/tools/uav_viewer_py/gui/cameraWidget.py
@@ -58,7 +58,7 @@ def initUI(self):
 
     def updateImage(self):
 
-        img = self.winParent.getCamera().getImage()
+        img = self.winParent.getCamera().getImage().data
         if img is not None:
             image = QImage(img.data, img.shape[1], img.shape[0], img.shape[1] * img.shape[2], QImage.Format_RGB888);
 
diff --git a/src/tools/uav_viewer_py/gui/sensorsWidget.py b/src/tools/uav_viewer_py/gui/sensorsWidget.py
index 31aa19e0e..a93292f47 100644
--- a/src/tools/uav_viewer_py/gui/sensorsWidget.py
+++ b/src/tools/uav_viewer_py/gui/sensorsWidget.py
@@ -167,19 +167,19 @@ def initUI(self):
         self.setLayout(self.mainLayout);
 
     def updateSensors(self):
-        pose = self.winParent.getPose3D().getPose3D()
+        pose = self.winParent.getPose3D().getPose3d()
 
         if pose != None:
-            qw = pose.q0
-            qx = pose.q1
-            qy = pose.q2
-            qz = pose.q3
+            qw = pose.q[0]
+            qx = pose.q[1]
+            qy = pose.q[2]
+            qz = pose.q[3]
             self.drawAltd(pose.z)
             self.drawYawValues(self.quatToYaw(qw, qx, qy, qz) * 180 / math.pi)
             self.drawPitchRollValues(self.quatToPitch(qw, qx, qy, qz) * 180 / math.pi,
                                      self.quatToRoll(qw, qx, qy, qz) * 180 / math.pi)
 
-        navdata = self.winParent.getNavData().getNavdata()
+        navdata = self.winParent.getNavData().getNavData()
 
         if navdata != None:
             self.battery.setValue(navdata.batteryPercent)
diff --git a/src/tools/uav_viewer_py/uav_viewer_py.yml b/src/tools/uav_viewer_py/uav_viewer_py.yml
index 116204d6f..43512936a 100644
--- a/src/tools/uav_viewer_py/uav_viewer_py.yml
+++ b/src/tools/uav_viewer_py/uav_viewer_py.yml
@@ -1,6 +1,38 @@
 UAVViewer:
-  Camera: "default -h 0.0.0.0 -p 9999"
-  Pose3D: "default -h 0.0.0.0 -p 9999"
-  Navdata: "default -h 0.0.0.0 -p 9999"
-  CMDVel: "default -h 0.0.0.0 -p 9999"
-  Extra: "default -h 0.0.0.0 -p 9999"
+  Camera:
+    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Proxy: "Camera:default -h localhost -p 9000"
+    Format: RGB8
+    Topic: "/IntrorobROS/image_raw"
+    Name: UAVViewerCamera
+
+  Pose3D:
+    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Proxy: "Pose3D:default -h localhost -p 9000"
+    Topic: "/IntrorobROS/Pose3D"
+    Name: UAVViewerPose3d
+
+  CMDVel:
+    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Proxy: "CMDVel:tcp -h localhost -p 9000"
+    Topic: "/IntrorobROS/CMDVel"
+    Name: UAVViewerCMDVel
+
+  Navdata:
+    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Proxy: "Navdata:tcp -h localhost -p 9000"
+    Topic: "/IntrorobROS/Navdata"
+    Name: UAVViewerNavdata
+
+  Extra:
+    Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+    Proxy: "Extra:tcp -h localhost -p 9000"
+    Topic: "/IntrorobROS/Extra"
+    Name: UAVViewerExtra
+
+  Xmax: 10
+  Ymax: 10
+  Zmax: 5
+  Yawmax: 1 
+
+NodeName: UAVViewer