diff --git a/src/drawing_controller/drawing_controller/drawing_controller.py b/src/drawing_controller/drawing_controller/drawing_controller.py
index 4500e98..e0ebddc 100644
--- a/src/drawing_controller/drawing_controller/drawing_controller.py
+++ b/src/drawing_controller/drawing_controller/drawing_controller.py
@@ -59,7 +59,7 @@ class DrawingController(Node):
         self.timer = self.create_timer(timer_period, self.timer_callback)
         self.i = 0
 
-        self.cli = self.create_client(ExecuteMotion, 'dummy_execute_path')
+        self.cli = self.create_client(ExecuteMotion, 'execute_path')
         while not self.cli.wait_for_service(timeout_sec=1.0):
             self.get_logger().info('service not available, waiting again...')
         self.req = ExecuteMotion.Request()
diff --git a/src/robot_controller/src/cpp/robot_controller.cpp b/src/robot_controller/src/cpp/robot_controller.cpp
index 8761602..f48571f 100644
--- a/src/robot_controller/src/cpp/robot_controller.cpp
+++ b/src/robot_controller/src/cpp/robot_controller.cpp
@@ -5,57 +5,35 @@
 class RobotController : public rclcpp::Node
 {
 public:
-  /// Constructor
-  RobotController(std::string name)
-  : Node(name)
+  RobotController(std::string name) : Node(name)
   {
-  //this->service = this->create_service<robot_interfaces::srv::ExecuteMotion>(name+"_execute_path", &this->executePath);
-  this->service = this->create_service<robot_interfaces::srv::ExecuteMotion>(name+"_execute_path", std::bind(&RobotController::executePath, this, std::placeholders::_1, std::placeholders::_2));
-
-  // Subscribe to target pose
-  //target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1));
-
-  //RCLCPP_INFO(this->get_logger(), "Initialization successful.");
-
-
-  //std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("add_two_ints_server");
-
-  //rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr service = node->create_service<example_interfaces::srv::AddTwoInts>("add_two_ints", &add);
-
-  //RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to add two ints.");
-
-  //rclcpp::spin(node);
-  //rclcpp::shutdown();
+    this->service = this->create_service<robot_interfaces::srv::ExecuteMotion>("execute_path", std::bind(&RobotController::executePath, this, std::placeholders::_1, std::placeholders::_2));
   }
 
-  //int (RobotController::*executePath)(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response);
-void executePath(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response) const
-{
-  //request->motion->path PoseStamped[]
-  //request->motion->acceleration float64
-  //request->motion->velocity float64
-  RCLCPP_INFO(this->get_logger(), "NEW MOTION: Acceleration: ");
-  //RCLCPP_INFO(this->get_logger(), "Acceleration: " + std::to_string(request.motion.acceleration));
-  response->status = "executePath not implemented";
-  RCLCPP_WARN(this->get_logger(), "executePath not implemented");
-}
+  /// Callback that executes path on robot
+  virtual void executePath(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response)
+  {
+    //request->motion->path PoseStamped[]
+    //request->motion->acceleration float64
+    //request->motion->velocity float64
+    RCLCPP_INFO(this->get_logger(), "NEW MOTION: Acceleration: ");
+    //RCLCPP_INFO(this->get_logger(), "Acceleration: " + std::to_string(request.motion.acceleration));
+    response->status = "executePath not implemented";
+    RCLCPP_WARN(this->get_logger(), "executePath not implemented");
+  }
 
 private:
-  /// Callback that executes path on robot
-
   rclcpp::Service<robot_interfaces::srv::ExecuteMotion>::SharedPtr service;
 };
 
 // A controller for a Dummy robot. Only logs messages and serves as an example for real implementation.
-// CRTP pattern used here https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern
-//class DummyController : public RobotController<DummyController>
 class DummyController : public RobotController
 {
   public:
 
     DummyController(std::string name) : RobotController(name) {}
 
-    void executePath(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response) const
+    virtual void executePath(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response)
     {
       //request->motion->path PoseStamped[]
       //request->motion->acceleration float64
@@ -68,7 +46,6 @@ class DummyController : public RobotController
 
 };
 
-//RobotController::RobotController(name) : Node(name)
 
 int main(int argc, char ** argv)
 {