diff --git a/src/px4_connection/src/heartbeat.cpp b/src/px4_connection/src/heartbeat.cpp
index 716e36cd..d989b02c 100644
--- a/src/px4_connection/src/heartbeat.cpp
+++ b/src/px4_connection/src/heartbeat.cpp
@@ -24,7 +24,8 @@ public:
     HeartBeat() : Node("heartbeat")
     {
         // disarm_service_ = this->create_service<std_srvs::srv::Empty>("drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-        vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("drone/set_vehicle_control", std::bind(&HeartBeat::handle_vehicle_control_change, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+        vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control", std::bind(&HeartBeat::handle_vehicle_control_change, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+        RCLCPP_INFO(this->get_logger(), "initialized service /drone/set_vehicle_control");
         // create a publisher on the offboard control mode topic
         offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
         // create timer to send heartbeat messages (offboard control) every 100ms