diff --git a/canopen/sphinx/quickstart/examples.rst b/canopen/sphinx/quickstart/examples.rst
index 2e3505ca..09843b28 100644
--- a/canopen/sphinx/quickstart/examples.rst
+++ b/canopen/sphinx/quickstart/examples.rst
@@ -9,7 +9,7 @@ Service Interface
 
 .. code-block:: bash
 
-    ros2 launch canopen_tests ci402_setup.launch.py
+    ros2 launch canopen_tests cia402_setup.launch.py
 
 
 Managed Service Interface
@@ -17,7 +17,7 @@ Managed Service Interface
 
 .. code-block:: bash
 
-    ros2 launch canopen_tests ci402_lifecycle_setup.launch.py
+    ros2 launch canopen_tests cia402_lifecycle_setup.launch.py
 
 ROS2 Control
 ------------
diff --git a/canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp b/canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp
index 8c7f13c3..8a9f0f8a 100644
--- a/canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp
+++ b/canopen_fake_slaves/include/canopen_fake_slaves/cia402_slave.hpp
@@ -364,7 +364,7 @@ class CIA402MockSlave : public canopen::BasicSlave
     }
     RCLCPP_INFO(rclcpp::get_logger("cia402_slave"), "Leaving run_profile_velocity_mode");
   }
-
+  
   void run_homing_mode()
   {
     bool homed = false;
@@ -648,12 +648,13 @@ class CIA402MockSlave : public canopen::BasicSlave
     homing_mode = std::thread(std::bind(&CIA402MockSlave::run_homing_mode, this));
   }
 
+
   void start_profile_velocity_mode()
   {
     profiled_velocity_mode =
       std::thread(std::bind(&CIA402MockSlave::run_profile_velocity_mode, this));
   }
-
+  
   void on_quickstop_active()
   {
     if (is_enable_operation())