diff --git a/rtklib_bridge/launch/rtklib_bridge.launch b/rtklib_bridge/launch/rtklib_bridge.launch
index 8c02e2d..f7481f4 100644
--- a/rtklib_bridge/launch/rtklib_bridge.launch
+++ b/rtklib_bridge/launch/rtklib_bridge.launch
@@ -1,11 +1,16 @@
 <?xml version="1.0" encoding="UTF-8"?>
-
 <launch>
-
-  <param name="ip_adress" value="127.0.0.1"/>
-  <param name="port" value="61111"/>
-  <param name="altitude_estimate" value="false"/>
+  <arg name="pub_vel_topic_name" default="/rtklib_nav_doppler"/>
+  <arg name="address" default="127.0.0.1"/>
+  <arg name="port_num" default="61112"/>
+  <arg name="est_alt" default="false"/>
+  
   <!-- When outputting on ellipsoidal height (WGS 84) = false ,When outputting in altitude = true -->
-  <node pkg="rtklib_bridge" name="rtklib_bridge" type="rtklib_bridge" respawn="true"/>
-
+  <node pkg="rtklib_bridge" name="rtklib_bridge" type="rtklib_bridge" respawn="true">
+    <param name="pub_vel_topic" value="$(arg pub_vel_topic_name)"/>
+    <param name="ip_adress" value="$(arg address)"/>
+    <param name="port" value="$(arg port_num)"/>
+    <param name="altitude_estimate" value="$(arg est_alt)"/>
+  </node>
 </launch>
+
diff --git a/rtklib_bridge/src/rtklib_bridge.cpp b/rtklib_bridge/src/rtklib_bridge.cpp
index ffc36b5..227352b 100644
--- a/rtklib_bridge/src/rtklib_bridge.cpp
+++ b/rtklib_bridge/src/rtklib_bridge.cpp
@@ -47,7 +47,11 @@ int main(int argc, char** argv)
 {
   ros::init(argc, argv, "rtklib_bridge");
   ros::NodeHandle n;
-  ros::Publisher pub1 = n.advertise<rtklib_msgs::RtklibNav>("rtklib_nav", 1);
+
+  std::string pub_vel_topic_;
+  n.param("/rtklib_bridge/pub_vel_topic", pub_vel_topic_, std::string("rtklib_nav_doppler"));
+
+  ros::Publisher pub1 = n.advertise<rtklib_msgs::RtklibNav>(pub_vel_topic_, 1);
   ros::Publisher pub2 = n.advertise<sensor_msgs::NavSatFix>("rtklib/fix", 1000);
 
   rtklib_msgs::RtklibNav rtklib_nav;
@@ -56,9 +60,9 @@ int main(int argc, char** argv)
   std::string ip_adress = "127.0.0.1";
   int port = 61111;
   bool altitude_estimate = true;
-  n.getParam("ip_adress", ip_adress);
-  n.getParam("port", port);
-  n.getParam("altitude_estimate", altitude_estimate);
+  n.getParam("/rtklib_bridge/ip_adress", ip_adress);
+  n.getParam("/rtklib_bridge/port", port);
+  n.getParam("/rtklib_bridge/altitude_estimate", altitude_estimate);
 
   std::cout << "ip_adress " << ip_adress << std::endl;
   std::cout << "port "<< port <<std::endl;