diff --git a/dfall_ws/src/dfall_pkg/include/nodes/FlyingAgentClient.h b/dfall_ws/src/dfall_pkg/include/nodes/FlyingAgentClient.h
index 3f49b46f9abfc2cd7ccfad634ef8a204f34a4cf7..b41dee020f20f6f27ca04ab41d46919cc14b35ab 100644
--- a/dfall_ws/src/dfall_pkg/include/nodes/FlyingAgentClient.h
+++ b/dfall_ws/src/dfall_pkg/include/nodes/FlyingAgentClient.h
@@ -204,6 +204,8 @@ ros::ServiceClient m_studentController;
 ros::ServiceClient m_tuningController;
 // The Picker controller specified in the FlyingAgentClientConfig.yaml
 ros::ServiceClient m_pickerController;
+// The Remote controller specified in the FlyingAgentClientConfig.yaml
+ros::ServiceClient m_remoteController;
 // The Template controller specified in the FlyingAgentClientConfig.yaml
 ros::ServiceClient m_templateController;
 
diff --git a/dfall_ws/src/dfall_pkg/param/FlyingAgentClientConfig.yaml b/dfall_ws/src/dfall_pkg/param/FlyingAgentClientConfig.yaml
index 29ec896efe0bd6f6cc94b0bdf52ba950467aefa8..e6bacb8f6af079883950dd1df95c9b4a49056ca3 100755
--- a/dfall_ws/src/dfall_pkg/param/FlyingAgentClientConfig.yaml
+++ b/dfall_ws/src/dfall_pkg/param/FlyingAgentClientConfig.yaml
@@ -4,6 +4,7 @@ defaultController:  "DefaultControllerService/DefaultController"
 studentController:  "StudentControllerService/StudentController"
 tuningController:   "TuningControllerService/TuningController"
 pickerController:   "PickerControllerService/PickerController"
+remoteController:   "RemoteControllerService/RemoteController"
 templateController: "TemplateControllerService/TemplateController"
 
 testMotorsController: "TestMotorsControllerService/TestMotorsController"
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp b/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
index 769deba2cf9936a5d1b9fe19db00a7aafa431099..9bd6791af148892c0035182b56f5e76cfa6c84b3 100755
--- a/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
@@ -838,6 +838,9 @@ void setInstantController(int controller)
         case PICKER_CONTROLLER:
             m_instant_controller_service_client = &m_pickerController;
             break;
+        case REMOTE_CONTROLLER:
+            m_instant_controller_service_client = &m_remoteController;
+            break;
         case TEMPLATE_CONTROLLER:
             m_instant_controller_service_client = &m_templateController;
             break;
@@ -1272,6 +1275,7 @@ void timerCallback_for_createAllcontrollerServiceClients(const ros::TimerEvent&)
     createControllerServiceClientFromParameterName( "studentController"  , m_studentController );
     createControllerServiceClientFromParameterName( "tuningController"   , m_tuningController );
     createControllerServiceClientFromParameterName( "pickerController"   , m_pickerController );
+    createControllerServiceClientFromParameterName( "remoteController"   , m_remoteController );
     createControllerServiceClientFromParameterName( "templateController" , m_templateController );
 
     createControllerServiceClientFromParameterName( "testMotorsController" , m_testMotorsController );