diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py
index 3938e49..a60ea62 100644
--- a/launch/robot_joystick.launch.py
+++ b/launch/robot_joystick.launch.py
@@ -21,9 +21,9 @@ def generate_launch_description():
          )
 
     teleop_node = Node(
-            package='teleop_twist_joy',
-            executable='teleop_node',
-            name='teleop_node',
+            package='rmp220_teleop',
+            executable='rmp220_teleop',
+            name='rmp220_teleop',
             parameters=[joy_params, {'use_sim_time': use_sim_time}],
             remappings=[('/cmd_vel','/cmd_vel_joy')]
          )
diff --git a/package.xml b/package.xml
index 9474e7e..81dd395 100644
--- a/package.xml
+++ b/package.xml
@@ -9,6 +9,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>joy</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>