diff --git a/auv_setup/config/robots/beluga.yaml b/auv_setup/config/robots/beluga.yaml
index 87fa75da..07f98698 100644
--- a/auv_setup/config/robots/beluga.yaml
+++ b/auv_setup/config/robots/beluga.yaml
@@ -37,9 +37,9 @@ propulsion:
num: 8
configuration_matrix:
- [[ 0.70711, 0.00000, -0.70711, 0.00000, -0.70711, 0.00000, 0.00000, 0.70711], # Surge
- [0.70711, 0.00000, 0.70711, 0.00000, -0.70711, 0.00000, 0.00000, -0.70711], # Sway
- [ 0.00000, 1.00000, 0.00000, 1.00000, 0.00000, 1.00000, 1.00000, 0.00000], # Heave
+ [[ 0.70711, 0.00000, 0.00000, 0.70711, 0.70711, 0.00000, 0.00000, 0.70711], # Surge
+ [-0.70711, 0.00000, 0.00000, 0.70711, -0.70711, 0.00000, 0.00000, 0.70711], # Sway
+ [ 0.00000, 1.00000, 1.00000, 0.00000, 0.00000, 1.00000, 1.00000, 0.00000], # Heave
[ 0.04738, -0.21500, 0.04738, -0.21500, -0.04738, 0.21500, 0.21500, -0.04738 ], # Roll
[ -0.04738, -0.28000, 0.04738, 0.28000, 0.04738, 0.28000, -0.28000, -0.04738 ], # Pitch
diff --git a/auv_setup/launch/pc.launch b/auv_setup/launch/pc.launch
index 8d82f319..313d86d0 100644
--- a/auv_setup/launch/pc.launch
+++ b/auv_setup/launch/pc.launch
@@ -3,6 +3,9 @@
+
+
+