diff --git a/dfall_ws/src/dfall_pkg/src/nodes/RemoteControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/RemoteControllerService.cpp
index cd8da6ad0fe501942a47e699772b8730cb48793a..b301d3fc9b5795907e4055dd5edac0b60cb87f88 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/RemoteControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/RemoteControllerService.cpp
@@ -340,10 +340,13 @@ void viconSubscribeObjectNameCallback(const ViconSubscribeObjectName& msg)
 
 		// Create a "ros::NodeHandle" type local variable "nodeHandle" as the current node,
 		// the "~" indcates that "self" is the node handle assigned to this variable.
-		ros::NodeHandle nodeHandle("~");
+		//ros::NodeHandle nodeHandle("~");
+
+		// CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
+		ros::NodeHandle nodeHandle_dfall_root("/dfall");
 
 		// Keeps 10 messages because otherwise ViconDataPublisher would override the data immediately
-		viconSubscriber = nodeHandle.subscribe("/ViconDataPublisher/ViconData", 10, viconCallback);
+		viconSubscriber = nodeHandle_dfall_root.subscribe("ViconDataPublisher/ViconData", 10, viconCallback);
 		ROS_INFO_STREAM("[REMOTE CONTORLLER] successfully subscribed to ViconData");
 	}
 	else