diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 8c96bd4fec9b5840965a5f99ac91b9bde21b5f12..0550d2dc9c9f84ecbb5e9aa9cfdb3529cb542dde 100644
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -58,9 +58,9 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   ViconData.msg
-  MotorControl.msg
-  AngleControl.msg
-  RateControl.msg
+  MotorCommand.msg
+  AngleCommand.msg
+  RateCommand.msg
   Setpoint.msg
 )
 
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index ad4ad27a273c5dd12895bc54e47cbcdc354102a2..f05cac2ba464c80f14bbf41344297d1e764130ac 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -64,24 +64,20 @@ class PPSRadioClient:
             This callback is executed as soon as the connection to the
             quadrotor is established.
         """
-        #print "Connection to %s successful: " % link_uri
         rospy.loginfo("Connection to %s successful: " % link_uri)
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
         at the specified address)"""
-        #print "Connection to %s failed: %s" % (link_uri, msg)
         rospy.logerr("Connection to %s failed: %s" % (link_uri, msg))
 
     def _connection_lost(self, link_uri, msg):
         """Callback when disconnected after a connection has been made (i.e
         Crazyflie moves out of range)"""
-        #print "Connection to %s lost: %s" % (link_uri, msg)
         rospy.logerr("Connection to %s lost: %s" % (link_uri, msg))
 
     def _disconnected(self, link_uri):
         """Callback when the Crazyflie is disconnected (called in all cases)"""
-        #print "Disconnected from %s" % link_uri
         rospy.logwarn("Disconnected from %s" % link_uri)
 
     def _send_to_commander(self,roll, pitch, yaw, thrust,cmd1,cmd2,cmd3,cmd4,mode):
@@ -108,12 +104,11 @@ def rateControlCallback(data):
 
 if __name__ == '__main__':
     rospy.init_node('CrazyRadio', anonymous=True)
+    # Initialize the low-level drivers (don't list the debug drivers)
     cflib.crtp.init_drivers(enable_debug_driver=False)
 
     while not rospy.is_shutdown():
 
-        # Initialize the low-level drivers (don't list the debug drivers)
-
         # Scan for Crazyflies and use the first one found
         rospy.loginfo("Scanning interfaces for Crazyflies...")
         available=[]
@@ -127,7 +122,10 @@ if __name__ == '__main__':
             #TODO: load address from parameters
             cf_client = PPSRadioClient(available[0][0])
             time.sleep(3.0)
-            #TODO: register action/subscriber/.. callback
+            #TODO: change publisher name if not correct
+            rospy.Subscriber("PPSClient/MotorCommand", MotorCommand, motorControlCallback)
+            rospy.Subscriber("PPSClient/AngleCommand", AngleCommand, angleControlCallback)
+            rospy.Subscriber("PPSClient/RateCommand", RateCommand, rateControlCallback)
 
             rospy.spin()
         else:
diff --git a/pps_ws/src/d_fall_pps/msg/AngleControl.msg b/pps_ws/src/d_fall_pps/msg/AngleCommand.msg
similarity index 100%
rename from pps_ws/src/d_fall_pps/msg/AngleControl.msg
rename to pps_ws/src/d_fall_pps/msg/AngleCommand.msg
diff --git a/pps_ws/src/d_fall_pps/msg/MotorControl.msg b/pps_ws/src/d_fall_pps/msg/MotorCommand.msg
similarity index 100%
rename from pps_ws/src/d_fall_pps/msg/MotorControl.msg
rename to pps_ws/src/d_fall_pps/msg/MotorCommand.msg
diff --git a/pps_ws/src/d_fall_pps/msg/RateControl.msg b/pps_ws/src/d_fall_pps/msg/RateCommand.msg
similarity index 100%
rename from pps_ws/src/d_fall_pps/msg/RateControl.msg
rename to pps_ws/src/d_fall_pps/msg/RateCommand.msg
diff --git a/pps_ws/src/d_fall_pps/srv/AngleController.srv b/pps_ws/src/d_fall_pps/srv/AngleController.srv
index 7155b47db7c5198f5eeb80a0158b127bf24a46a6..8c896c49a0e08b7ee9f69ff5af91c459d79ae630 100644
--- a/pps_ws/src/d_fall_pps/srv/AngleController.srv
+++ b/pps_ws/src/d_fall_pps/srv/AngleController.srv
@@ -1,4 +1,4 @@
 ViconData crazyflieLocation
 Setpoint setpoint
 ---
-AngleControl controlOutput
+AngleCommand controlOutput
diff --git a/pps_ws/src/d_fall_pps/srv/MotorController.srv b/pps_ws/src/d_fall_pps/srv/MotorController.srv
index 73167d624648d9e9a6b340b811d95f481005fb66..363b6d3c685fa631509d20263eb4f864f6c65f5b 100644
--- a/pps_ws/src/d_fall_pps/srv/MotorController.srv
+++ b/pps_ws/src/d_fall_pps/srv/MotorController.srv
@@ -1,4 +1,4 @@
 ViconData crazyflieLocation
 Setpoint setpoint
 ---
-MotorControl controlOutput
+MotorCommand controlOutput
diff --git a/pps_ws/src/d_fall_pps/srv/RateController.srv b/pps_ws/src/d_fall_pps/srv/RateController.srv
index 51e8ceea6cf134b5c26d1071a692c0444eb96593..96469641221aa0aa5f2caa41f1c4aafcb78aa45f 100644
--- a/pps_ws/src/d_fall_pps/srv/RateController.srv
+++ b/pps_ws/src/d_fall_pps/srv/RateController.srv
@@ -1,4 +1,4 @@
 ViconData crazyflieLocation
 Setpoint setpoint
 ---
-RateControl controlOutput
+RateCommand controlOutput