diff --git a/launch/robot_navigation.launch.py b/launch/robot_navigation.launch.py
index 7f9bf49..c6fd25b 100644
--- a/launch/robot_navigation.launch.py
+++ b/launch/robot_navigation.launch.py
@@ -28,7 +28,7 @@ from nav2_common.launch import RewrittenYaml
 
 def generate_launch_description():
     # Get the launch directory
-    bringup_dir = get_package_share_directory('cps_rmp220_support')
+    bringup_dir = get_package_share_directory('nav2_bringup')
 
     namespace = LaunchConfiguration('namespace')
     use_sim_time = LaunchConfiguration('use_sim_time')
@@ -83,7 +83,7 @@ def generate_launch_description():
 
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
-        default_value=os.path.join(bringup_dir, 'config', 'nav2_params.yaml'),
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
     declare_autostart_cmd = DeclareLaunchArgument(
@@ -178,7 +178,7 @@ def generate_launch_description():
                 parameters=[configured_params],
                 arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings +
-                        [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel_out')]), # so we get cmd_vel_smoothed as output to robot controller
+                        [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
             Node(
                 package='nav2_lifecycle_manager',
                 executable='lifecycle_manager',