diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
index 6fd4b400cd1fac24e91c30a22da1f635e686d130..d09b3de27732f7fc42e9e89f5ab62448c693faeb 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
@@ -14,7 +14,7 @@ class Forward_Kinematics_Node_3Dof(Node):
         # Create a subscriber, initialising the transformation
         self.subscription = self.create_subscription(
             Float64,
-            '/dof2/reference_angles',
+            '/dof3/reference_angles',
             self.listener_callback,
             10)
         # Create two publishers for the RViz simulation - one for the whole path and one for the marker
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
index b770add34626abbb4c7e95e8bb58d93b169e6b52..3ae57965d2ae4ef34f3d1ec96e26056d65a2a8dc 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
@@ -15,7 +15,7 @@ class Forward_Kinematics_Node_3Dof(Node):
         # Create a subscriber, initialising the transformation
         self.subscription = self.create_subscription(
             Float64,
-            '/dof2/reference_angles',
+            '/dof3/reference_angles',
             self.listener_callback,
             10)
         # Create two publishers for the RViz simulation - one for the whole path and one for the marker
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
index e302fd129f2cac529d85ecadf3e60382d639d724..5559d4166966f3705b3e91a3c85ffb6393bb1028 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
@@ -15,7 +15,7 @@ class Forward_Kinematics_Node_3Dof(Node):
         # Create a subscriber, initialising the transformation
         self.subscription = self.create_subscription(
             Float64,
-            '/dof2/reference_angles',
+            '/dof3/reference_angles',
             self.listener_callback,
             10)
         # Create two publishers for the RViz simulation - one for the whole path and one for the marker
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py
index 207548f85aa6753251b3cb8fc9bc21cd7cff28bb..7300d478f5ba056600b7fd1b68766a355f612c70 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py
@@ -11,7 +11,7 @@ class Reference_Node_3DoF(Node):
     def __init__(self):
         super().__init__('reference_node_1dof')
         #Create a publisher sending the vector as a message
-        self.publisher_ = self.create_publisher(Float64, '/dof2/reference_angles', 10)#
+        self.publisher_ = self.create_publisher(Float64, '/dof3/reference_angles', 10)#
         timer_period = 0.05  # seconds
         self.timer = self.create_timer(timer_period, self.ref_point_publisher)
         self.phi_start = 0.0