diff --git a/src/costmap_2d_robot.cpp b/src/costmap_2d_robot.cpp
index 1d6f04b..461a38c 100644
--- a/src/costmap_2d_robot.cpp
+++ b/src/costmap_2d_robot.cpp
@@ -82,6 +82,7 @@ Costmap2DROBOT::Costmap2DROBOT(const std::string& name, tf3::BufferCore& tf) :
   name_ = name;
   std::string config_file_name = "costmap_params.yaml";
   getParams(config_file_name, name_, nh);
+  nh.printParams();
 
   // create a thread to handle updating the map
   stop_updates_ = false;
@@ -366,14 +367,14 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
     {
       std::string topics_string;
       move_parameter(priv_nh_2, target_layer, "observation_sources", topics_string);
-      robot::log_error("topics_string: %s", topics_string.c_str());
+      // robot::log_error("topics_string: %s", topics_string.c_str());
       std::stringstream ss(topics_string);
       std::string source;
       while (ss >> source)
       {
         robot::NodeHandle priv_nh_3(priv_nh_2, source);
         robot::NodeHandle target_layer_2(target_layer, source);
-        robot::log_warning("priv_nh_3: %s",priv_nh_3.getNamespace().c_str());
+        // robot::log_warning("priv_nh_3: %s",priv_nh_3.getNamespace().c_str());
         std::string topic;
         std::string data_type;
         bool clearing;
@@ -381,15 +382,14 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
         bool inf_is_valid;
         double min_obstacle_height;
         double max_obstacle_height;
-        move_parameter(priv_nh_2, target_layer_2, "topic", topic);
+        move_parameter(priv_nh_3, target_layer_2, "topic", topic);
         robot::log_error("topic: %s", topic.c_str());
-        move_parameter(priv_nh_2, target_layer_2, "data_type", data_type);
-        move_parameter(priv_nh_2, target_layer_2, "clearing", clearing);
-        move_parameter(priv_nh_2, target_layer_2, "marking", marking);
-        move_parameter(priv_nh_2, target_layer_2, "inf_is_valid", inf_is_valid);
-        move_parameter(priv_nh_2, target_layer_2, "min_obstacle_height", min_obstacle_height);
-        move_parameter(priv_nh_2, target_layer_2, "max_obstacle_height", max_obstacle_height);
-        target_layer_2.printParams();
+        move_parameter(priv_nh_3, target_layer_2, "data_type", data_type);
+        move_parameter(priv_nh_3, target_layer_2, "clearing", clearing);
+        move_parameter(priv_nh_3, target_layer_2, "marking", marking);
+        move_parameter(priv_nh_3, target_layer_2, "inf_is_valid", inf_is_valid);
+        move_parameter(priv_nh_3, target_layer_2, "min_obstacle_height", min_obstacle_height);
+        move_parameter(priv_nh_3, target_layer_2, "max_obstacle_height", max_obstacle_height);
       }
     }
   }
@@ -421,16 +421,16 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
         bool inf_is_valid;
         double min_obstacle_height;
         double max_obstacle_height;
-        move_parameter(priv_nh_2, target_layer_2, "topic", topic);
-        move_parameter(priv_nh_2, target_layer_2, "data_type", data_type);
-        move_parameter(priv_nh_2, target_layer_2, "clearing", clearing);
-        move_parameter(priv_nh_2, target_layer_2, "marking", marking);
-        move_parameter(priv_nh_2, target_layer_2, "inf_is_valid", inf_is_valid);
-        move_parameter(priv_nh_2, target_layer_2, "min_obstacle_height", min_obstacle_height);
-        move_parameter(priv_nh_2, target_layer_2, "max_obstacle_height", max_obstacle_height);
+        move_parameter(priv_nh_3, target_layer_2, "topic", topic);
+        // robot::log_error("topic: %s", topic.c_str());
+        move_parameter(priv_nh_3, target_layer_2, "data_type", data_type);
+        move_parameter(priv_nh_3, target_layer_2, "clearing", clearing);
+        move_parameter(priv_nh_3, target_layer_2, "marking", marking);
+        move_parameter(priv_nh_3, target_layer_2, "inf_is_valid", inf_is_valid);
+        move_parameter(priv_nh_3, target_layer_2, "min_obstacle_height", min_obstacle_height);
+        move_parameter(priv_nh_3, target_layer_2, "max_obstacle_height", max_obstacle_height);
       }
     }
-
   }
   else if(plugin_type == "InflationLayer")
   {