diff --git a/pps_ws/src/d_fall_pps/launch/ppsLaunch.launch b/pps_ws/src/d_fall_pps/launch/ppsLaunch.launch
index 078b17e45a979d5a8b488b18304e8eb5718b06cc..8075f51207a04ee4124a3aa2a74f4deffeace73e 100644
--- a/pps_ws/src/d_fall_pps/launch/ppsLaunch.launch
+++ b/pps_ws/src/d_fall_pps/launch/ppsLaunch.launch
@@ -11,11 +11,8 @@
 	</node>
 
 
-
-	<!-- We will need something similar for our Control node(s)
-	<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="FlightControl">
+	<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService">
 	</node>
-	-->
 
 	<!-- When we have a GUI, this has to be adapted and included
 	<node pkg="d_fall_pps" name="GUI" output="screen" type="GUI">
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 334db63f5ba2ef38ac809084e5d43efc5d20e17c..c95e2149cdf8d9e42bdacd1d410a1fcd01894f94 100644
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -206,7 +206,7 @@ int main(int argc, char* argv[]){
 
 
 	//service: now only one available: to add several services depending on controller
-	rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateCommand");
+	rateClient = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController");
 
 
 
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 0ea4211a9024abbf9436135ff0f13eae34d63cf0..122fec3bdc75f7f9f7854fb8dd34b7e0d62309ca 100644
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -22,6 +22,15 @@
 
 using namespace d_fall_pps;
 
+
+/*TODO:
+request from paul
+Specificy controller in a file
+
+
+
+*/
+
 bool calculateControlOutput(RateController::Request &request, RateController::Response &response) {
     ROS_INFO("calculate control output");