diff --git a/README.md b/README.md
index 4de7c24..c6cdf6a 100644
--- a/README.md
+++ b/README.md
@@ -2,9 +2,11 @@
 [![Udemy][udemy-shield]][udemy-url]
 
 <p align="center">
-  <img src="media/BumperBot.png" alt="Logo" width="450">
+  <img src="media/bumperbot.jpg" width="550">
 </p>
 
+Pictured: Bumperbot constructed by Dwilliestyle, based on instructions from Antonio Brandi's Udemy courses. 
+
 Bumperbot is an open-source 3D printed self-driving robot powered by ROS 2. Its simple design and low cost make it an excellent learning platform, featured in the following online courses:
 * [Self Driving and ROS 2 - Learn by Doing! Odometry & Control
 ](https://www.udemy.com/course/self-driving-and-ros-2-learn-by-doing-odometry-control/?referralCode=50BCC4E84DB2DB09BFB3)
diff --git a/bumperbot_bringup/launch/real_robot.launch.py b/bumperbot_bringup/launch/real_robot.launch.py
index ede2797..1511078 100644
--- a/bumperbot_bringup/launch/real_robot.launch.py
+++ b/bumperbot_bringup/launch/real_robot.launch.py
@@ -25,7 +25,7 @@ def generate_launch_description():
 
     laser_driver = Node(
             package="rplidar_ros",
-            executable="rplidar_node",
+            executable="rplidar_composition",
             name="rplidar_node",
             parameters=[os.path.join(
                 get_package_share_directory("bumperbot_bringup"),
diff --git a/bumperbot_controller/config/joy_teleop.yaml b/bumperbot_controller/config/joy_teleop.yaml
index 537c4a3..ef816eb 100644
--- a/bumperbot_controller/config/joy_teleop.yaml
+++ b/bumperbot_controller/config/joy_teleop.yaml
@@ -7,10 +7,10 @@ joy_teleop:
       deadman_buttons: [5]
       axis_mappings:
         twist-linear-x:
-          axis: 1
-          scale: 1.0
+          axis: 3
+          scale: -1.0
           offset: 0.0
         twist-angular-z:
-          axis: 3
+          axis: 1
           scale: 1.0
           offset: 0.0
\ No newline at end of file
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new file mode 100644
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diff --git a/media/bumperbot.jpg b/media/bumperbot.jpg
new file mode 100644
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