diff --git a/src/ldrobot-lidar-ros2/ldlidar_node/launch/ldlidar.launch.py b/src/ldrobot-lidar-ros2/ldlidar_node/launch/ldlidar.launch.py
index 8194041..19f927e 100644
--- a/src/ldrobot-lidar-ros2/ldlidar_node/launch/ldlidar.launch.py
+++ b/src/ldrobot-lidar-ros2/ldlidar_node/launch/ldlidar.launch.py
@@ -41,6 +41,7 @@ def generate_launch_description():
     declare_node_name_cmd = DeclareLaunchArgument(
         'node_name',
         default_value='ldlidar_node',
+        namespace='lidar',
         description='Name of the node'
     )
 
diff --git a/src/ldrobot-lidar-ros2/ldlidar_node/launch/ldlidar_with_mgr.launch.py b/src/ldrobot-lidar-ros2/ldlidar_node/launch/ldlidar_with_mgr.launch.py
index 839efa6..f9e5612 100644
--- a/src/ldrobot-lidar-ros2/ldlidar_node/launch/ldlidar_with_mgr.launch.py
+++ b/src/ldrobot-lidar-ros2/ldlidar_node/launch/ldlidar_with_mgr.launch.py
@@ -50,6 +50,7 @@ def generate_launch_description():
         package='nav2_lifecycle_manager',
         executable='lifecycle_manager',
         name='lidar_lifecycle_manager',
+        namespace='lidar',
         output='screen',
         parameters=[
             # YAML files
diff --git a/src/listen_package/listen_package/ecoute.py b/src/listen_package/listen_package/ecoute.py
index dc2e5d8..1e8f1a5 100644
--- a/src/listen_package/listen_package/ecoute.py
+++ b/src/listen_package/listen_package/ecoute.py
@@ -10,7 +10,7 @@ def __init__(self):
         qos_profile = rclpy.qos.QoSProfile(depth=10, reliability=rclpy.qos.QoSReliabilityPolicy.BEST_EFFORT)
         self.subscription = self.create_subscription(
             LaserScan,
-            'ldlidar_node/scan',
+            '/lidar/ldlidar_node/scan',
             self.listener_callback,
             qos_profile)
         self.subscription  # prevent unused variable warning
@@ -25,8 +25,9 @@ def listener_callback(self, msg):
         # Check if any of the range values are within the specified distance
         for range_value in msg.ranges:
             if min_distance < range_value < max_distance:
+
                 # If an object is detected within the specified range, publish a message
-                self.get_logger().info("Object detected")
+                self.get_logger().info("Object detected at distance : %f" % range_value)
                 self.publisher.publish(String(data='Object detected'))
                 break