diff --git a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py
index 7a835aaf09de2b747a46ba0cca71df16229852e5..ee5e6dd17d4fff6ea534d07171bdb06fd6067e70 100644
--- a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py
+++ b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_1.py
@@ -43,7 +43,7 @@ class Forward_Kinematics_Node_2Dof(Node):
         h_fraction = self.phi * h
 
         # Define the vector
-        vector = np.array([-1.0, 0.0, 0.0, 1.0])
+        start_vector = np.array([-1.0, 0.0, 0.0, 1.0])
 
         # Define the matrix
         intermediate_rotation = np.array([
@@ -54,18 +54,18 @@ class Forward_Kinematics_Node_2Dof(Node):
         ])
         
         # Calculate the intermediate vectors
-        intermediate_vector = np.matmul(intermediate_rotation, vector)
+        intermediate_vector = np.matmul(intermediate_rotation, start_vector)
 
         self.construct_path(intermediate_vector)
 
-    def construct_path(self, vector_path):
+    def construct_path(self, vector):
         # RViz
         pose = PoseStamped()
         pose.header.frame_id = "map"
         pose.header.stamp = self.get_clock().now().to_msg()
-        pose.pose.position.x = vector_path[0]
-        pose.pose.position.y = vector_path[1]
-        pose.pose.position.z = vector_path[2]
+        pose.pose.position.x = vector[0]
+        pose.pose.position.y = vector[1]
+        pose.pose.position.z = vector[2]
         pose.pose.orientation.w = 1.0
 
         #If the path is completed clear it
diff --git a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py
index ee5f2aabeb98c18bfbab81a2e40afb787b37de08..4b4688d773be652ccd34182d37715f49a9204f6e 100644
--- a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py
+++ b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/forward_kinematics_node_2dof_2.py
@@ -50,7 +50,7 @@ class Forward_Kinematics_Node_2Dof(Node):
         theta_fraction = self.phi * theta
 
         # Define the vector
-        vector = np.array([-1.0, 0.0, 0.0, 1.0])
+        start_vector = np.array([-1.0, 0.0, 0.0, 1.0])
 
         # define the matrix
         intermediate_rotation = np.array([
@@ -67,10 +67,10 @@ class Forward_Kinematics_Node_2Dof(Node):
         ])
         
         # calculate the intermediate vectors
-        rotated_intermediate_vector = np.matmul(intermediate_rotation, vector)
+        rotated_intermediate_vector = np.matmul(intermediate_rotation, start_vector)
 
         # calculate the end vector
-        self.end_vector = np.matmul(rotation, vector)
+        self.end_vector = np.matmul(rotation, start_vector)
 
         # construct the path of the rotation
         self.construct_path(rotated_intermediate_vector)
diff --git a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/reference_node_2dof.py b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/reference_node_2dof.py
index 680fca0d8852cb872881687048c5ecd308872cbb..ae03518bafdf57b9b83d308bb19fa8eed34b86db 100644
--- a/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/reference_node_2dof.py
+++ b/ros2_ws/src/simple_robot_2dof/simple_robot_2dof/reference_node_2dof.py
@@ -6,7 +6,7 @@ from geometry_msgs.msg import Point, PoseStamped
 import time
 
 
-class Reference_Node_1DoF(Node):
+class Reference_Node_2DoF(Node):
 
     def __init__(self):
         super().__init__('reference_node_1dof')
@@ -38,7 +38,7 @@ class Reference_Node_1DoF(Node):
 
 def main(args = None):
     rclpy.init(args = args)
-    node = Reference_Node_1DoF()
+    node = Reference_Node_2DoF()
     rclpy.spin(node)
     node.destroy_node()
     rclpy.shutdown()