diff --git a/control/yolo_human_tracking.py b/control/yolo_human_tracking.py
index 151991c..094d101 100644
--- a/control/yolo_human_tracking.py
+++ b/control/yolo_human_tracking.py
@@ -61,7 +61,7 @@ if __name__ == "__main__":
     vehicle_type = sys.argv[1]
     vehicle_id = sys.argv[2]
     rospy.init_node('yolo_human_tracking')
-    rospy.Subscriber("/darknet_ros/bounding_boxes", BoundingBoxes, darknet_callback)
+    rospy.Subscriber("/uav_"+vehicle_id+"/darknet_ros/bounding_boxes", BoundingBoxes, darknet_callback)
     rospy.Subscriber(vehicle_type+'_'+vehicle_id+"/mavros/local_position/pose", PoseStamped, local_pose_callback)
     rospy.Subscriber('/xtdrone/'+vehicle_type+'_'+vehicle_id+'/cam_pose', PoseStamped, cam_pose_callback)
     vel_pub = rospy.Publisher('/xtdrone/'+vehicle_type+'_'+vehicle_id+'/cmd_vel_flu', Twist, queue_size=2)
diff --git a/sensing/object_detection_and_tracking/darknet_ros b/sensing/object_detection_and_tracking/darknet_ros
index b5ae1e6..0845c2f 160000
--- a/sensing/object_detection_and_tracking/darknet_ros
+++ b/sensing/object_detection_and_tracking/darknet_ros
@@ -1 +1 @@
-Subproject commit b5ae1e64a25dab8a19b6c49bb0b9417b5d1ff6de
+Subproject commit 0845c2fe3b91573586426362cd147e09cf4da2d4