diff --git a/xarm_controller/src/hardware/uf_robot_system_hardware.cpp b/xarm_controller/src/hardware/uf_robot_system_hardware.cpp
index 0a882eea..cf97bd32 100644
--- a/xarm_controller/src/hardware/uf_robot_system_hardware.cpp
+++ b/xarm_controller/src/hardware/uf_robot_system_hardware.cpp
@@ -62,7 +62,7 @@ namespace uf_robot_hardware
         robot_ip_ = "";
         auto it = info_.hardware_parameters.find("robot_ip");
         if (it != info_.hardware_parameters.end()) {
-            robot_ip_ = it->second.substr(1);
+            robot_ip_ = it->second.substr(0);
         }
         if (robot_ip_ == "") {
             RCLCPP_ERROR(LOGGER, "[%s] No param named 'robot_ip'", robot_ip_.c_str());
@@ -144,7 +144,7 @@ namespace uf_robot_hardware
         robot_ip_ = "";
         it = info_.hardware_parameters.find("robot_ip");
         if (it != info_.hardware_parameters.end()) {
-            robot_ip_ = it->second.substr(1);
+            robot_ip_ = it->second.substr(0);
         }
         if (robot_ip_ == "") {
             RCLCPP_ERROR(LOGGER, "[%s] No param named 'robot_ip'", robot_ip_.c_str());
@@ -407,11 +407,11 @@ namespace uf_robot_hardware
     void UFRobotSystemHardware::_reload_controller(void) {
         int ret = _call_request(client_list_controller_, req_list_controller_, res_list_controller_);
         if (ret == 0 && res_list_controller_->controller.size() > 0) {
-            req_switch_controller_->start_controllers.resize(res_list_controller_->controller.size());
-            req_switch_controller_->stop_controllers.resize(res_list_controller_->controller.size());
+            req_switch_controller_->activate_controllers.resize(res_list_controller_->controller.size());
+            req_switch_controller_->deactivate_controllers.resize(res_list_controller_->controller.size());
             for (uint i = 0; i < res_list_controller_->controller.size(); i++) {
-                req_switch_controller_->start_controllers[i] = res_list_controller_->controller[i].name;
-                req_switch_controller_->stop_controllers[i] = res_list_controller_->controller[i].name;
+                req_switch_controller_->activate_controllers[i] = res_list_controller_->controller[i].name;
+                req_switch_controller_->deactivate_controllers[i] = res_list_controller_->controller[i].name;
             }
             req_switch_controller_->strictness = controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT;
             _call_request(client_switch_controller_, req_switch_controller_, res_switch_controller_);
diff --git a/xarm_planner/src/xarm_planner.cpp b/xarm_planner/src/xarm_planner.cpp
index 799fc4f3..d8b48c35 100644
--- a/xarm_planner/src/xarm_planner.cpp
+++ b/xarm_planner/src/xarm_planner.cpp
@@ -78,7 +78,7 @@ bool XArmPlanner::planCartesianPath(const std::vector<geometry_msgs::msg::Pose>&
         RCLCPP_ERROR(node_->get_logger(), "planCartesianPath: plan failed, fraction=%lf", fraction);
         return false;
     }
-    xarm_plan_.trajectory_ = trajectory;
+    xarm_plan_.trajectory = trajectory;
     return true;
 }