diff --git a/asv_setup/launch/pc.yaml b/asv_setup/launch/pc.yaml
index 16f4cebf..d65bd83f 100644
--- a/asv_setup/launch/pc.yaml
+++ b/asv_setup/launch/pc.yaml
@@ -20,4 +20,4 @@ launch:
                 to: "/joystick/joy"
 
   - include:
-      file: "vortex-asv/mission/joystick_interface/launch/joystick_interface_launch.yaml" 
+      file: "src/vortex-asv/mission/joystick_interface/launch/joystick_interface_launch.yaml" 
diff --git a/mission/joystick_interface/CMakeLists.txt b/mission/joystick_interface/CMakeLists.txt
index 9d0dd660..0f5262d4 100644
--- a/mission/joystick_interface/CMakeLists.txt
+++ b/mission/joystick_interface/CMakeLists.txt
@@ -5,18 +5,11 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
-#find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
-
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 
-#ament_python_install_package("joystick_interface")
 ament_python_install_package(${PROJECT_NAME})
 
 install(PROGRAMS
@@ -24,12 +17,10 @@ install(PROGRAMS
   DESTINATION lib/${PROJECT_NAME}
 )
 
-
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   set(_pytest_tests
     joystick_interface/test/test_joystick_interface.py
-    # Add other test files here
   )
   foreach(_test_path ${_pytest_tests})
     get_filename_component(_test_name ${_test_path} NAME_WE)
diff --git a/mission/joystick_interface/README.md b/mission/joystick_interface/README.md
new file mode 100644
index 00000000..61f7b0b4
--- /dev/null
+++ b/mission/joystick_interface/README.md
@@ -0,0 +1,2 @@
+In the launch files we need to make it able to find the yaml files without having an explicit path such as this: "src/vortex-asv/mission/joystick_interface/launch/joystick_interface_launch.yaml" 
+Perhaps change to python launch
diff --git a/mission/joystick_interface/config/params.yaml b/mission/joystick_interface/config/params.yaml
index e86ec0e0..45d9bbd6 100644
--- a/mission/joystick_interface/config/params.yaml
+++ b/mission/joystick_interface/config/params.yaml
@@ -1,7 +1,7 @@
-/joystick_interface:
+joystick_interface:
   ros__parameters:
-    surge: 50.0
-    sway: 50.0
-    yaw: 50.0
+    surge_scale_factor: 50.0
+    sway_scale_factor: 50.0
+    yaw_scale_factor: 50.0
 
 
diff --git a/mission/joystick_interface/joystick_interface/joystick_interface.py b/mission/joystick_interface/joystick_interface/joystick_interface.py
index 78a5f35d..5640b02e 100755
--- a/mission/joystick_interface/joystick_interface/joystick_interface.py
+++ b/mission/joystick_interface/joystick_interface/joystick_interface.py
@@ -47,36 +47,36 @@ def __init__(self):
             "dpad_vertical",
         ]
 
-        self.joy_subscriber = self.create_subscription(Joy, "/joystick/joy",
+        self.joy_subscriber = self.create_subscription(Joy, "joystick/joy",
                                                        self.joystick_cb, 1)
         self.wrench_publisher = self.create_publisher(Wrench,
-                                                      "/thrust/wrench_input",
+                                                      "thrust/wrench_input",
                                                       1)
 
-        self.declare_parameter('surge', 100.0)
-        self.declare_parameter('sway', 100.0)
-        self.declare_parameter('yaw', 100.0)
+        self.declare_parameter('surge_scale_factor', 100.0)
+        self.declare_parameter('sway_scale_factor', 100.0)
+        self.declare_parameter('yaw_scale_factor', 100.0)
 
         #Gets the scaling factors from the yaml file
-        self.joystick_surge_scaling = self.get_parameter('surge').value
-        self.joystick_sway_scaling = self.get_parameter('sway').value
-        self.joystick_yaw_scaling = self.get_parameter('yaw').value
+        self.joystick_surge_scaling = self.get_parameter('surge_scale_factor').value
+        self.joystick_sway_scaling = self.get_parameter('sway_scale_factor').value
+        self.joystick_yaw_scaling = self.get_parameter('yaw_scale_factor').value
 
         #Killswitch publisher
         self.software_killswitch_signal_publisher = self.create_publisher(
-            Bool, "/softWareKillSwitch", 10)
+            Bool, "softWareKillSwitch", 10)
         self.software_killswitch_signal_publisher.publish(
             Bool(data=False))  #Killswitch is not active
 
         #Operational mode publisher
         self.operational_mode_signal_publisher = self.create_publisher(
-            Bool, "/softWareOperationMode", 10)
+            Bool, "softWareOperationMode", 10)
         # Signal that we are not in autonomous mode
         self.operational_mode_signal_publisher.publish(Bool(data=True))
 
         #Controller publisher
         self.enable_controller_publisher = self.create_publisher(
-            Bool, "/controller/lqr/enable", 10)
+            Bool, "controller/lqr/enable", 10)
 
     #does a linear conversion from trigger inputs (1 to -1) to (1 to 2)
     def right_trigger_linear_converter(self, rt_input):
diff --git a/mission/joystick_interface/launch/joystick_interface_launch.yaml b/mission/joystick_interface/launch/joystick_interface_launch.yaml
index e52aa61d..61aac95f 100644
--- a/mission/joystick_interface/launch/joystick_interface_launch.yaml
+++ b/mission/joystick_interface/launch/joystick_interface_launch.yaml
@@ -5,7 +5,8 @@ launch:
     name: joystick_interface
     output: screen
     param:
-    - from: vortex-asv/mission/joystick_interface/config/params.yaml
+    - from: src/vortex-asv/mission/joystick_interface/config/params.yaml
+