diff --git a/rrbot_control/launch/rrbot_rqt.perspective b/rrbot_control/launch/rrbot_rqt.perspective
index 2b3b956..2e3a263 100644
--- a/rrbot_control/launch/rrbot_rqt.perspective
+++ b/rrbot_control/launch/rrbot_rqt.perspective
@@ -87,12 +87,12 @@
               "keys": {
                 "splitter": {
                   "type": "repr(QByteArray.hex)", 
-                  "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff00000000000000020000012d0000023901000000060100000001')", 
+                  "repr(QByteArray.hex)": "b'000000ff00000000000000020000012d0000023901000000060100000001'", 
                   "pretty-print": "       - 9     "
                 }, 
                 "_splitter": {
                   "type": "repr(QByteArray.hex)", 
-                  "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff00000000000000020000013e0000006401000000090100000002')", 
+                  "repr(QByteArray.hex)": "b'000000ff00000000000000020000013e0000006401000000090100000002'", 
                   "pretty-print": "       > d     "
                 }
               }, 
@@ -106,12 +106,12 @@
       "keys": {
         "geometry": {
           "type": "repr(QByteArray.hex)", 
-          "repr(QByteArray.hex)": "QtCore.QByteArray('01d9d0cb00010000000006ac000000de00000cb000000490000006b0000000fa00000cac0000048c000000000000')", 
+          "repr(QByteArray.hex)": "b'01d9d0cb00010000000006ac000000de00000cb000000490000006b0000000fa00000cac0000048c000000000000'", 
           "pretty-print": "                       "
         }, 
         "state": {
           "type": "repr(QByteArray.hex)", 
-          "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff00000000fd0000000100000003000005fd00000364fc0100000001fc00000000000005fd0000038100fffffffc0100000002fc000000000000033e0000026600fffffffc0200000002fb00000058007200710074005f007000750062006c00690073006800650072005f005f005000750062006c00690073006800650072005f005f0031005f005f005000750062006c0069007300680065007200570069006400670065007401000000190000016b0000009600fffffffb0000006c007200710074005f007200650063006f006e006600690067007500720065005f005f0050006100720061006d005f005f0031005f005f005f0070006c007500670069006e0063006f006e007400610069006e00650072005f0074006f0070005f007700690064006700650074010000018a000001f30000010f00fffffffb00000042007200710074005f0070006c006f0074005f005f0050006c006f0074005f005f0031005f005f00440061007400610050006c006f00740057006900640067006500740100000344000002b90000011500ffffff000005fd0000000000000004000000040000000800000008fc00000001000000030000000100000036004d0069006e0069006d0069007a006500640044006f0063006b00570069006400670065007400730054006f006f006c0062006100720000000000ffffffff0000000000000000')", 
+          "repr(QByteArray.hex)": "b'000000ff00000000fd0000000100000003000005fd00000364fc0100000001fc00000000000005fd0000038100fffffffc0100000002fc000000000000033e0000026600fffffffc0200000002fb00000058007200710074005f007000750062006c00690073006800650072005f005f005000750062006c00690073006800650072005f005f0031005f005f005000750062006c0069007300680065007200570069006400670065007401000000190000016b0000009600fffffffb0000006c007200710074005f007200650063006f006e006600690067007500720065005f005f0050006100720061006d005f005f0031005f005f005f0070006c007500670069006e0063006f006e007400610069006e00650072005f0074006f0070005f007700690064006700650074010000018a000001f30000010f00fffffffb00000042007200710074005f0070006c006f0074005f005f0050006c006f0074005f005f0031005f005f00440061007400610050006c006f00740057006900640067006500740100000344000002b90000011500ffffff000005fd0000000000000004000000040000000800000008fc00000001000000030000000100000036004d0069006e0069006d0069007a006500640044006f0063006b00570069006400670065007400730054006f006f006c0062006100720000000000ffffffff0000000000000000'", 
           "pretty-print": "                                        Xrqt_publisher__Publisher__1__PublisherWidget          lrqt_reconfigure__Param__1___plugincontainer_top_widget          Brqt_plot__Plot__1__DataPlotWidget                            6MinimizedDockWidgetsToolbar        "
         }
       }, 
diff --git a/rrbot_description/launch/rrbot_rviz.launch b/rrbot_description/launch/rrbot_rviz.launch
index 3b65916..85d5b0f 100644
--- a/rrbot_description/launch/rrbot_rviz.launch
+++ b/rrbot_description/launch/rrbot_rviz.launch
@@ -8,7 +8,7 @@
   </node>
 
   <!-- Combine joint values -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
   <!-- Show in Rviz   -->
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rrbot_description)/launch/rrbot.rviz"/>