diff --git a/ros2rag.starter/src/main/resources/config.json b/ros2rag.starter/src/main/resources/config.json
index af5e2b9835bd31e60418d97a8162f0c2fdb82215..ad12193a6c0da29e9e8ac097e615038933b1c92f 100644
--- a/ros2rag.starter/src/main/resources/config.json
+++ b/ros2rag.starter/src/main/resources/config.json
@@ -1,15 +1,15 @@
 {
   "joints": [
-    {"name": "Joint0", "topic": "panda_link_0"},
-    {"name": "Joint1", "topic": "panda_link_1"},
-    {"name": "Joint2", "topic": "panda_link_2"},
-    {"name": "Joint3", "topic": "panda_link_3"},
-    {"name": "Joint4", "topic": "panda_link_4"},
-    {"name": "Joint5", "topic": "panda_link_5"},
-    {"name": "Joint6", "topic": "panda_link_6"},
-    {"name": "EndEffector", "topic": "panda_link_7", "isEndEffector": true},
-    {"name": "LeftFinger", "topic": "panda_link_8"},
-    {"name": "RightFinger", "topic": "panda_link_9"}
+    {"name": "Joint0", "topic": "panda::panda_link0"},
+    {"name": "Joint1", "topic": "panda::panda_link1"},
+    {"name": "Joint2", "topic": "panda::panda_link2"},
+    {"name": "Joint3", "topic": "panda::panda_link3"},
+    {"name": "Joint4", "topic": "panda::panda_link4"},
+    {"name": "Joint5", "topic": "panda::panda_link5"},
+    {"name": "Joint6", "topic": "panda::panda_link6"},
+    {"name": "EndEffector", "topic": "panda::panda_link7", "isEndEffector": true},
+    {"name": "LeftFinger", "topic": "panda::panda_leftfinger"},
+    {"name": "RightFinger", "topic": "panda::panda_rightfinger"}
   ],
   "robotConfigTopic": "robotconfig",
   "dataConfigTopic": "dataconfig"