diff --git a/launch/hero_bringup.launch b/launch/hero_bringup.launch
index 795d1bf7..cabb9cc7 100644
--- a/launch/hero_bringup.launch
+++ b/launch/hero_bringup.launch
@@ -168,9 +168,8 @@
                 <arg name="robot_name" value="$(arg robot_name)"/>
             </include>
 
-			<!-- whole timeopt filter -->
-			<include file="$(find hsrb_timeopt_ros)/launch/hsrb_timeopt_filter.launch">
-		    </include>
+            <!-- whole timeopt filter -->
+            <include file="$(find hsrb_timeopt_ros)/launch/hsrb_timeopt_filter.launch" />
 
             <!-- Finger impedance control in whole body -->
             <remap from="/hsrb/joint_states" to="$(arg namespace)/joint_states" />
diff --git a/launch/simulation/gazebo.launch b/launch/simulation/gazebo.launch
index 22134675..9542ddc5 100644
--- a/launch/simulation/gazebo.launch
+++ b/launch/simulation/gazebo.launch
@@ -62,9 +62,9 @@
     <remap from="/hsrb/command_suction" to="$(arg namespace)/command_suction" />
 
     <!-- Torso controller -->
-    <!-- This should be remapped, but the topics/services disappear when doing it
-    <remap from="/hsrb/mimic_controller/pid_gains/torso_lift_joint" to="$(arg namespace)/mimic_controller/pid_gains/torso_lift_joint" />
-    -->
+    <remap from="/hsrb/mimic_controller/pid_gains/torso_lift_joint/parameter_descriptions" to="$(arg namespace)/mimic_controller/pid_gains/torso_lift_joint/parameter_descriptions" />
+    <remap from="/hsrb/mimic_controller/pid_gains/torso_lift_joint/parameter_updates" to="$(arg namespace)/mimic_controller/pid_gains/torso_lift_joint/parameter_updates" />
+    <remap from="/hsrb/mimic_controller/pid_gains/torso_lift_joint/set_parameters" to="$(arg namespace)/mimic_controller/pid_gains/torso_lift_joint/set_parameters" />
 
     <!-- Wrist -->
     <remap from="/hsrb/wrist_wrench/raw" to="$(arg namespace)/wrist_wrench/raw" />
diff --git a/scripts/openpose.service b/scripts/openpose.service
index de36fd12..36354f38 100644
--- a/scripts/openpose.service
+++ b/scripts/openpose.service
@@ -7,4 +7,14 @@ WantedBy=multi-user.target
 [Service]
 User=amigo
 Restart=on-abort
-ExecStart=/bin/bash -c 'source /home/amigo/.tue/setup.bash && export PATH=/usr/local/cuda/bin:$PATH && export LD_LIBRARY_PATH=/usr/local/cuda/lib64$:$LD_LIBRARY_PATH && rosrun image_recognition_openpose openpose_node _net_input_width:=368 _net_input_height:=368 _net_output_width:=368 _net_output_height:=368 _model_folder:=/home/amigo/openpose/models/ __ns:=hero/openpose image:=/hero/head_rgbd_sensor/rgb/image_raw'
+ExecStart=/bin/bash -c 'source /home/amigo/.tue/setup.bash \
+        && export PATH=/usr/local/cuda/bin:$PATH \
+        && export LD_LIBRARY_PATH=/usr/local/cuda/lib64$:$LD_LIBRARY_PATH \
+        && rosrun image_recognition_openpose openpose_node \
+        _net_input_width:=368 \
+        _net_input_height:=368 \
+        _net_output_width:=368 \
+        _net_output_height:=368 \
+        _model_folder:=/home/amigo/openpose/models/ \
+        __ns:=hero/openpose \
+        image:=/hero/head_rgbd_sensor/rgb/image_raw'