diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/robot/RobotLeg.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/robot/RobotLeg.h
index 885dad7..27cd6a6 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/robot/RobotLeg.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/robot/RobotLeg.h
@@ -10,7 +10,6 @@
 #include <kdl/chainiksolverpos_lma.hpp>
 #include <kdl/chainjnttojacsolver.hpp>
 #include <kdl_parser/kdl_parser.hpp>
-#include <kdl/chainidsolver_recursive_newton_euler.hpp>
 #include <unitree_guide_controller/common/mathTypes.h>
 
 class RobotLeg {
diff --git a/descriptions/go2_description/config/robot_control.yaml b/descriptions/go2_description/config/robot_control.yaml
index da609d8..af3529e 100644
--- a/descriptions/go2_description/config/robot_control.yaml
+++ b/descriptions/go2_description/config/robot_control.yaml
@@ -48,10 +48,10 @@ unitree_guide_controller:
       - velocity
 
     feet_names:
-      - FR_FOOT
-      - FL_FOOT
-      - RR_FOOT
-      - RL_FOOT
+      - FR_foot
+      - FL_foot
+      - RR_foot
+      - RL_foot
 
     imu_name: "imu_sensor"