diff --git a/rm_chassis_controllers/src/chassis_base.cpp b/rm_chassis_controllers/src/chassis_base.cpp
index f70b2588..ebf7d987 100644
--- a/rm_chassis_controllers/src/chassis_base.cpp
+++ b/rm_chassis_controllers/src/chassis_base.cpp
@@ -149,13 +149,13 @@ void ChassisBase<T...>::update(const ros::Time& time, const ros::Duration& perio
     vel_cmd_.y = ramp_y_->output();
     vel_cmd_.z = cmd_vel.angular.z;
   }
-  // test
+  
   if (cmd_rt_buffer_.readFromRT()->cmd_chassis_.follow_source_frame.empty())
     follow_source_frame_ = "yaw";
   else
     follow_source_frame_ = cmd_rt_buffer_.readFromRT()->cmd_chassis_.follow_source_frame;
   if (cmd_rt_buffer_.readFromRT()->cmd_chassis_.command_source_frame.empty())
-    command_source_frame_ = "bask_link";
+    command_source_frame_ = "yaw";
   else
     command_source_frame_ = cmd_rt_buffer_.readFromRT()->cmd_chassis_.command_source_frame;
 
@@ -173,10 +173,10 @@ void ChassisBase<T...>::update(const ros::Time& time, const ros::Duration& perio
       raw();
       break;
     case FOLLOW:
-      raw();
+      follow(time, period);
       break;
     case TWIST:
-      raw();
+      twist(time, period);
       break;
   }