diff --git a/Cargo.lock b/Cargo.lock
index e5f2ff6..27f568d 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,5 +1,7 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
+version = 3
+
 [[package]]
 name = "aho-corasick"
 version = "0.7.18"
@@ -718,8 +720,7 @@ checksum = "692fcb63b64b1758029e0a96ee63e049ce8c5948587f2f7208df04625e5f6b56"
 [[package]]
 name = "opcua-client"
 version = "0.8.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0517d6a4a439bf6d6313d7b25940c968e1dbb5205a47778061e4c2e5d615bd9c"
+source = "git+https://github.com/kristoferb/opcua?branch=0.8.1#627478c91c3a17730ea29142bf5f426f22ac670e"
 dependencies = [
  "chrono",
  "futures 0.1.31",
@@ -740,8 +741,7 @@ dependencies = [
 [[package]]
 name = "opcua-core"
 version = "0.8.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c7e8d353c0c84f917917e7de65c745377a43c042656e7b56b7ae7b4397b87ad1"
+source = "git+https://github.com/kristoferb/opcua?branch=0.8.1#627478c91c3a17730ea29142bf5f426f22ac670e"
 dependencies = [
  "bytes 0.4.12",
  "chrono",
@@ -762,8 +762,7 @@ dependencies = [
 [[package]]
 name = "opcua-crypto"
 version = "0.8.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ff552d5920b3462073aa8c00ca37145e76e85f5fd3c447bd12f8dedfa448d70"
+source = "git+https://github.com/kristoferb/opcua?branch=0.8.1#627478c91c3a17730ea29142bf5f426f22ac670e"
 dependencies = [
  "bytes 0.4.12",
  "chrono",
@@ -779,8 +778,7 @@ dependencies = [
 [[package]]
 name = "opcua-types"
 version = "0.8.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3117a07c654ac2d5a652e28cec632d1b031ec5d7f09761455082329d4190be63"
+source = "git+https://github.com/kristoferb/opcua?branch=0.8.1#627478c91c3a17730ea29142bf5f426f22ac670e"
 dependencies = [
  "base64",
  "bitflags",
diff --git a/Cargo.toml b/Cargo.toml
index a8383a4..f78223e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -8,5 +8,5 @@ edition = "2018"
 r2r = "0.5.3"
 futures = "0.3.15"
 tokio = { version = "1", features = ["full"] }
-opcua-client = "0.8"
+opcua-client = {git = "https://github.com/kristoferb/opcua", branch = "0.8.1"}
 serde_json = "1.0"
diff --git a/README.md b/README.md
index 343d012..ea28413 100644
--- a/README.md
+++ b/README.md
@@ -18,3 +18,8 @@ Or simply
 ```
 cargo run -- --ros-args -p server_address:="opc.tcp://192.168.1.33:4840/" -p node_ids:=["ns=4;i=45","ns=4;i=46","ns=4;i=47","ns=4;i=94","ns=4;i=306"]
 ```
+
+Another example
+```
+cargo run -- --ros-args -p server_address:="opc.tcp://192.168.100.10:4840/" -p node_ids:=["ns=4;s=|var|CODESYS CONTROL FOR Raspberry Pi MC SL.Application.IO.bool_from_plc_1","ns=4;s=|var|CODESYS CONTROL FOR Raspberry Pi MC SL.Application.IO.bool_to_plc_1"]
+```
\ No newline at end of file
diff --git a/src/main.rs b/src/main.rs
index 4d1d3fa..7c37c36 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -261,8 +261,8 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
     let state = Arc::new(Mutex::new(HashMap::new()));
     let (session, _kill) = setup_opc(&server_address, node_ids, state.clone()).expect("could not connect to opc server");
 
-    let sub = node.subscribe::<r2r::std_msgs::msg::String>("command")?;
-    let publisher = node.create_publisher::<r2r::std_msgs::msg::String>("measured")?;
+    let sub = node.subscribe::<r2r::std_msgs::msg::String>("opc_command")?;
+    let publisher = node.create_publisher::<r2r::std_msgs::msg::String>("opc_measured")?;
 
     let state_task = state.clone();
     let handle = tokio::task::spawn_blocking(move || loop {