diff --git a/docker-compose.yaml b/docker-compose.yaml
index 3fe0483..f009d3b 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -50,7 +50,7 @@ services:
   robot_state_publisher:
     extends: overlay
     command: >
-      ros2 launch rmp_bringup rsp.launch.py
+      ros2 launch cps_rmp220_support rsp.launch.py
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
@@ -61,7 +61,7 @@ services:
   controller:
     extends: overlay 
     command: >
-      /controller_startup.sh
+      ros2 launch cps_rmp220_support robot_controller.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyACM0:/dev/ttyACM0
@@ -81,7 +81,7 @@ services:
   sensors:
     extends: overlay
     command: >
-      ros2 launch bot_mini_bringup robot_lidar.launch.py
+      ros2 launch cps_rmp220_support robot_lidar.launch.py
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
@@ -115,7 +115,7 @@ services:
   mapping:
     extends: overlay
     command: >
-      ros2 launch bot_mini_bringup robot_mapper.launch.py
+      ros2 launch cps_rmp220_support robot_mapping.launch.py
     # Interactive shell
     stdin_open: true
     tty: true
@@ -129,7 +129,7 @@ services:
   navigation:
     extends: overlay
     command: >
-      ros2 launch bot_mini_bringup robot_navigation.launch.py
+      ros2 launch cps_rmp220_support robot_navigation.launch.py
       map_subscribe_transient_local:=true
     stdin_open: true
     tty: true