diff --git a/CMakeLists.txt b/CMakeLists.txt
index cfb49eb..970fbd9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -158,7 +158,7 @@ add_executable(ik_server src/ik_server.cpp /home/lucas/toolkit-kinematics/src/Ki
 
 add_executable(ik_client src/ik_client.cpp)
 
-add_executable(sim_poppy_joint src/poppy_ros.cpp)
+add_executable(sim_poppy_joint src/sim_poppy_joint.cpp)
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -174,11 +174,11 @@ add_executable(sim_poppy_joint src/poppy_ros.cpp)
 #   ${catkin_LIBRARIES}
 # )
 target_link_libraries(poppy_ros dxl_x64_cpp rt ${catkin_LIBRARIES})
-target_link_libraries(sim_poppy_joint ${catkin_LIBRARIES})
 
 target_link_libraries(ik_server ${catkin_LIBRARIES} ${OpenCV_LIBS})
 
 target_link_libraries(ik_client ${catkin_LIBRARIES})
+target_link_libraries(sim_poppy_joint ${catkin_LIBRARIES})
 #############
 ## Install ##
 #############
diff --git a/src/sim_poppy_joint.cpp b/src/sim_poppy_joint.cpp
index 0c5e1da..f1a53b0 100644
--- a/src/sim_poppy_joint.cpp
+++ b/src/sim_poppy_joint.cpp
@@ -1,7 +1,8 @@
 #include "ros/ros.h"
 #include "geometry_msgs/Twist.h"
+#include "sensor_msgs/JointState.h"
 
-std::vector<uint16_t> jointVec;
+std::vector<double> jointVec;
 void jointCMDCallback(const geometry_msgs::Twist& joint_cmd)
 {
 	jointVec.clear();