diff --git a/fuse_models/include/fuse_models/parameters/odometry_2d_publisher_params.h b/fuse_models/include/fuse_models/parameters/odometry_2d_publisher_params.h
index 60736b7fd..8bfc757dd 100644
--- a/fuse_models/include/fuse_models/parameters/odometry_2d_publisher_params.h
+++ b/fuse_models/include/fuse_models/parameters/odometry_2d_publisher_params.h
@@ -100,8 +100,8 @@ struct Odometry2DPublisherParams : public ParameterBase
     map_frame_id = fuse_core::getParam(interfaces, ns + "map_frame_id", map_frame_id);
     odom_frame_id = fuse_core::getParam(interfaces, ns + "odom_frame_id", odom_frame_id);
     base_link_frame_id = fuse_core::getParam(interfaces, ns + "base_link_frame_id", base_link_frame_id);
-    base_link_frame_id = fuse_core::getParam(interfaces, ns + "base_link_output_frame_id", base_link_frame_id);
-    odom_frame_id = fuse_core::getParam(interfaces, ns + "world_frame_id", odom_frame_id);
+    base_link_output_frame_id = fuse_core::getParam(interfaces, ns + "base_link_output_frame_id", base_link_output_frame_id);
+    world_frame_id = fuse_core::getParam(interfaces, ns + "world_frame_id", world_frame_id);
 
     const bool frames_valid =
       map_frame_id != odom_frame_id &&
diff --git a/fuse_models/include/fuse_models/parameters/parameter_base.h b/fuse_models/include/fuse_models/parameters/parameter_base.h
index fd0dc4714..5e3442e21 100644
--- a/fuse_models/include/fuse_models/parameters/parameter_base.h
+++ b/fuse_models/include/fuse_models/parameters/parameter_base.h
@@ -88,8 +88,8 @@ inline std::vector<size_t> loadSensorConfig(
   fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Parameters> interfaces,
   const std::string& name)
 {
-  std::vector<std::string> dimensions =
-    fuse_core::getParam(interfaces, name, dimensions);
+  std::vector<std::string> dimensions;
+  dimensions = fuse_core::getParam(interfaces, name, dimensions);
   if (!dimensions.empty())
   {
     return common::getDimensionIndices<T>(dimensions);
diff --git a/fuse_models/src/graph_ignition.cpp b/fuse_models/src/graph_ignition.cpp
index b77fcbb43..5a5bc7915 100644
--- a/fuse_models/src/graph_ignition.cpp
+++ b/fuse_models/src/graph_ignition.cpp
@@ -78,7 +78,7 @@ void GraphIgnition::onInit()
       interfaces_.get_node_base_interface(),
       interfaces_.get_node_graph_interface(),
       interfaces_.get_node_services_interface(),
-      interfaces_.get_node_services_interface()->resolve_service_name(params_.reset_service),
+      fuse_core::joinTopicName(interfaces_.get_node_base_interface()->get_name(), params_.reset_service),
       rclcpp::ServicesQoS(),
       cb_group_
     );
@@ -98,7 +98,7 @@ void GraphIgnition::onInit()
   set_graph_service_ = rclcpp::create_service<fuse_msgs::srv::SetGraph>(
     interfaces_.get_node_base_interface(),
     interfaces_.get_node_services_interface(),
-    interfaces_.get_node_services_interface()->resolve_service_name(params_.set_graph_service),
+    fuse_core::joinTopicName(interfaces_.get_node_base_interface()->get_name(), params_.set_graph_service),
     std::bind(
       &GraphIgnition::setGraphServiceCallback, this, std::placeholders::_1, std::placeholders::_2),
     rclcpp::ServicesQoS(),
@@ -180,14 +180,8 @@ void GraphIgnition::process(const fuse_msgs::msg::SerializedGraph& msg)
     }
 
     auto srv = std::make_shared<std_srvs::srv::Empty::Request>();
+    // No need to spin since node is optimizer node, which should be spinning
     auto result_future = reset_client_->async_send_request(srv);
-    if (rclcpp::spin_until_future_complete(
-          interfaces_.get_node_base_interface(), result_future, std::chrono::seconds(10))
-        != rclcpp::FutureReturnCode::SUCCESS)
-    {
-      // The reset() service failed. Propagate that failure to the caller of this service.
-      throw std::runtime_error("Failed to call the '" + std::string(reset_client_->get_service_name()) + "' service.");
-    }
   }
 
   // Now that the optimizer has been reset, actually send the initial state constraints to the optimizer
diff --git a/fuse_models/src/unicycle_2d_ignition.cpp b/fuse_models/src/unicycle_2d_ignition.cpp
index e01a727fb..f41131f67 100644
--- a/fuse_models/src/unicycle_2d_ignition.cpp
+++ b/fuse_models/src/unicycle_2d_ignition.cpp
@@ -103,7 +103,7 @@ void Unicycle2DIgnition::onInit()
       interfaces_.get_node_base_interface(),
       interfaces_.get_node_graph_interface(),
       interfaces_.get_node_services_interface(),
-      interfaces_.get_node_services_interface()->resolve_service_name(params_.reset_service),
+      fuse_core::joinTopicName(interfaces_.get_node_base_interface()->get_name(), params_.reset_service),
       rclcpp::ServicesQoS(),
       cb_group_
     );
@@ -123,7 +123,7 @@ void Unicycle2DIgnition::onInit()
   set_pose_service_ = rclcpp::create_service<fuse_msgs::srv::SetPose>(
     interfaces_.get_node_base_interface(),
     interfaces_.get_node_services_interface(),
-    interfaces_.get_node_services_interface()->resolve_service_name(params_.set_pose_service),
+    fuse_core::joinTopicName(interfaces_.get_node_base_interface()->get_name(), params_.set_pose_service),
     std::bind(
       &Unicycle2DIgnition::setPoseServiceCallback, this, std::placeholders::_1, std::placeholders::_2),
     rclcpp::ServicesQoS(),
@@ -132,7 +132,7 @@ void Unicycle2DIgnition::onInit()
   set_pose_deprecated_service_ = rclcpp::create_service<fuse_msgs::srv::SetPoseDeprecated>(
     interfaces_.get_node_base_interface(),
     interfaces_.get_node_services_interface(),
-    interfaces_.get_node_services_interface()->resolve_service_name(params_.set_pose_deprecated_service),
+    fuse_core::joinTopicName(interfaces_.get_node_base_interface()->get_name(), params_.set_pose_deprecated_service),
     std::bind(
       &Unicycle2DIgnition::setPoseDeprecatedServiceCallback, this, std::placeholders::_1, std::placeholders::_2),
     rclcpp::ServicesQoS(),
@@ -272,14 +272,8 @@ void Unicycle2DIgnition::process(const geometry_msgs::msg::PoseWithCovarianceSta
     }
 
     auto srv = std::make_shared<std_srvs::srv::Empty::Request>();
+    // No need to spin since node is optimizer node, which should be spinning
     auto result_future = reset_client_->async_send_request(srv);
-    if (rclcpp::spin_until_future_complete(
-          interfaces_.get_node_base_interface(), result_future, std::chrono::seconds(10))
-        != rclcpp::FutureReturnCode::SUCCESS)
-    {
-      // The reset() service failed. Propagate that failure to the caller of this service.
-      throw std::runtime_error("Failed to call the '" + std::string(reset_client_->get_service_name()) + "' service.");
-    }
   }
 
   // Now that the pose has been validated and the optimizer has been reset, actually send the initial state constraints