diff --git a/pps_ws/src/d_fall_pps/param/SafeController.yaml b/pps_ws/src/d_fall_pps/param/SafeController.yaml
index 60efb4480984c85a640d235799b61a0eaa7da4a5..d0e014827cd6bbdb656087b34918920fbd1afe14 100644
--- a/pps_ws/src/d_fall_pps/param/SafeController.yaml
+++ b/pps_ws/src/d_fall_pps/param/SafeController.yaml
@@ -1,5 +1,5 @@
 #equlibrium offset
-mass : 29
+mass : 30
 #quadratic motor regression equation (a0, a1, a2)
 motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]
 
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index 6791781e4514ab739ca2d67ea4deb09a35a31c2b..d13baf1baa3b4d11d884e16694b98ed0d7faef32 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -1138,7 +1138,7 @@ int main(int argc, char* argv[]) {
 	// Set the class variable "namespace_to_own_agent_parameter_service" to be a the
     // namespace string for the parameter service that is running on the machine of this
     // agent
-    namespace_to_own_agent_parameter_service = "ParameterService";
+    namespace_to_own_agent_parameter_service = m_namespace + "/ParameterService";
 
     // Create a node handle to the parameter service running on this agent's machine
     ros::NodeHandle nodeHandle_to_own_agent_parameter_service(namespace_to_own_agent_parameter_service);
@@ -1165,6 +1165,11 @@ int main(int argc, char* argv[]) {
     // "yamlReadyForFetchCallback" class function.
     ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
 
+    // Let the user know what namespaces are being used for linking to the parameter service
+    ROS_INFO_STREAM("The namespace string for accessing the Paramter Services are:");
+    ROS_INFO_STREAM("namespace_to_own_agent_parameter_service    =  " << namespace_to_own_agent_parameter_service);
+    ROS_INFO_STREAM("namespace_to_coordinator_parameter_service  =  " << namespace_to_coordinator_parameter_service);
+
 	// Call the class function that loads the parameters for this class.
     fetchYamlParameters(nodeHandle_to_own_agent_parameter_service);