diff --git a/launch/flying/flying_receive.launch b/launch/flying/flying_receive.launch
index 7c9daf2d79397ff753633f29c92a1fc1a78a2c40..efaeee4305582adf209bfb1d2d99b4dc97dbc79d 100644
--- a/launch/flying/flying_receive.launch
+++ b/launch/flying/flying_receive.launch
@@ -5,6 +5,8 @@
 
     <node pkg="serial_python" type="trajectory_publisher.py" name="trajectory_receiver_1" output="screen">
       <param name="USB" value="/dev/esp_uart" />        
+      <param name="drones_num" value="2" />        
+      <param name="name" value="$(arg uav_name)" />        
       <rosparam file="/home/mrs/git/uav_core/ros_packages/mrs_trackers/config/uav/f550/mpc_tracker.yaml" />
     </node>
   </group>
diff --git a/scripts/trajectory_publisher.py b/scripts/trajectory_publisher.py
index d465faf7c5ac076ab44a1d408a5ef5d82af86e7c..be57d6a5372b7c06b7b24e0064c41ff88bb896aa 100755
--- a/scripts/trajectory_publisher.py
+++ b/scripts/trajectory_publisher.py
@@ -52,7 +52,7 @@ def talker():
 
     number_of_drones = rospy.get_param('~drones_num')
     usb = rospy.get_param("~USB")
-    names = rospy.get_param("/uav1/trajectory_receiver_1/mrs_collision_avoidance/drone_names") 
+    names = rospy.get_param("/"+rospy.get_param('~name')+"/trajectory_receiver_1/mrs_collision_avoidance/drone_names") 
     publishers_odom = {}
     publishers_future = {}
     rate = rospy.Rate(number_of_drones*2)