diff --git a/rrbot_description/launch/rrbot_rviz.launch b/rrbot_description/launch/rrbot_rviz.launch
index 3b65916..4bf29a0 100644
--- a/rrbot_description/launch/rrbot_rviz.launch
+++ b/rrbot_description/launch/rrbot_rviz.launch
@@ -3,12 +3,11 @@
     command="$(find xacro)/xacro --inorder '$(find rrbot_description)/urdf/rrbot.xacro'" />
 
   <!-- send fake joint values -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="TRUE"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
   </node>
 
   <!-- Combine joint values -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
   <!-- Show in Rviz   -->
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rrbot_description)/launch/rrbot.rviz"/>