diff --git a/imu_complementary_filter/launch/complementary_filter.launch.py b/imu_complementary_filter/launch/complementary_filter.launch.py
index 71fc01a7..65aa9834 100644
--- a/imu_complementary_filter/launch/complementary_filter.launch.py
+++ b/imu_complementary_filter/launch/complementary_filter.launch.py
@@ -7,13 +7,13 @@ def generate_launch_description():
         [
             Node(
                 package='imu_complementary_filter',
-                node_executable='complementary_filter_node',
+                executable='complementary_filter_node',
                 name='complementary_filter_gain_node',
                 output='screen',
                 parameters=[
                     {'do_bias_estimation': True},
                     {'do_adaptive_gain': True},
-                    {'use_mag': False},
+                    {'use_mag': True},
                     {'gain_acc': 0.01},
                     {'gain_mag': 0.01},
                 ],
diff --git a/imu_complementary_filter/src/complementary_filter_ros.cpp b/imu_complementary_filter/src/complementary_filter_ros.cpp
index e8a9dd74..56c9237d 100644
--- a/imu_complementary_filter/src/complementary_filter_ros.cpp
+++ b/imu_complementary_filter/src/complementary_filter_ros.cpp
@@ -106,7 +106,7 @@ void ComplementaryFilterROS::initializeParams()
     reverse_tf_ = this->declare_parameter<bool>("reverse_tf", false);
     constant_dt_ = this->declare_parameter<double>("constant_dt", 0.0);
     publish_debug_topics_ =
-        this->declare_parameter<bool>("publish_debug_topics", false);
+        this->declare_parameter<bool>("publish_debug_topics", true);
     gain_acc = this->declare_parameter<double>("gain_acc", 0.01);
     gain_mag = this->declare_parameter<double>("gain_mag", 0.01);
     do_bias_estimation =
diff --git a/imu_filter_madgwick/launch/imu_filter.launch.py b/imu_filter_madgwick/launch/imu_filter.launch.py
index 930f928f..90d123bb 100644
--- a/imu_filter_madgwick/launch/imu_filter.launch.py
+++ b/imu_filter_madgwick/launch/imu_filter.launch.py
@@ -14,8 +14,8 @@ def generate_launch_description():
         [
             launch_ros.actions.Node(
                 package='imu_filter_madgwick',
-                node_executable='imu_filter_madgwick_node',
-                node_name='imu_filter',
+                executable='imu_filter_madgwick_node',
+                name='imu_filter',
                 output='screen',
                 parameters=[os.path.join(config_dir, 'imu_filter.yaml')],
             )