diff --git a/ft_gui/ft_gui/ft_calibration_gui.py b/ft_gui/ft_gui/ft_calibration_gui.py
index b4380f3..c829cea 100644
--- a/ft_gui/ft_gui/ft_calibration_gui.py
+++ b/ft_gui/ft_gui/ft_calibration_gui.py
@@ -136,7 +136,7 @@ def connect_ros_calib(self, state):
                     "background-color: rgb(255,0,51);"
                     "border-radius:5px;"
                 )
-                self.node.get_logger().warning(f"An error occurred:{error}")
+                self.node.get_logger().warning(f"An error occurred: {error}")
                 self.node.get_logger().error('Failled to initialize ROS2 comms!')
         else:
             self.is_connected = False
diff --git a/ft_tools/src/ft_calibration_node.cpp b/ft_tools/src/ft_calibration_node.cpp
index a6c5b1a..535b35b 100644
--- a/ft_tools/src/ft_calibration_node.cpp
+++ b/ft_tools/src/ft_calibration_node.cpp
@@ -292,6 +292,15 @@ bool FtCalibrationNode::init_kinematics_monitoring()
     return false;
   }
   bool all_ok = true;
+
+  // Load URDF
+  auto robot_param = rclcpp::Parameter();
+  if (!this->get_parameter("robot_description", robot_param)) {
+    RCLCPP_ERROR(this->get_logger(), "parameter robot_description not set");
+    return false;
+  }
+  auto robot_description = robot_param.as_string();
+
   // Load the differential IK plugin
   if (!parameters_.kinematics.plugin_name.empty()) {
     try {
@@ -302,7 +311,7 @@ bool FtCalibrationNode::init_kinematics_monitoring()
       kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
       if (!kinematics_->initialize(
-          this->get_node_parameters_interface(), parameters_.kinematics.tip))
+          robot_description, this->get_node_parameters_interface(), "kinematics"))
       {
         all_ok &= false;
       }
diff --git a/ft_tools/src/ft_estimation_node.cpp b/ft_tools/src/ft_estimation_node.cpp
index 6faff56..b245430 100644
--- a/ft_tools/src/ft_estimation_node.cpp
+++ b/ft_tools/src/ft_estimation_node.cpp
@@ -279,6 +279,15 @@ bool FtEstimationNode::init_kinematics_monitoring()
     return false;
   }
   bool all_ok = true;
+
+  // Load URDF
+  auto robot_param = rclcpp::Parameter();
+  if (!this->get_parameter("robot_description", robot_param)) {
+    RCLCPP_ERROR(this->get_logger(), "parameter robot_description not set");
+    return false;
+  }
+  auto robot_description = robot_param.as_string();
+
   // Load the differential IK plugin
   if (!parameters_.kinematics.plugin_name.empty()) {
     try {
@@ -289,7 +298,7 @@ bool FtEstimationNode::init_kinematics_monitoring()
       kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
       if (!kinematics_->initialize(
-          this->get_node_parameters_interface(), parameters_.kinematics.tip))
+          robot_description, this->get_node_parameters_interface(), "kinematics"))
       {
         all_ok &= false;
       }