diff --git a/test/experiments/plr_test_converted.json b/test/experiments/plr_test_converted.json
index fc15dc16..11206c80 100644
--- a/test/experiments/plr_test_converted.json
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+                    "total_tip_length": 88,
                     "has_filter": true,
-                    "maximal_volume": 20.0,
-                    "fitting_depth": 3.29
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 7.95
                 },
                 "tip_state": {
                     "liquids": [],
@@ -978,10 +978,10 @@
                 },
                 "pending_tip": {
                     "type": "Tip",
-                    "total_tip_length": 39.2,
+                    "total_tip_length": 88,
                     "has_filter": true,
-                    "maximal_volume": 20.0,
-                    "fitting_depth": 3.29
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 7.95
                 }
             }
         },
@@ -994,14 +994,14 @@
             "type": "device",
             "class": "",
             "position": {
-                "x": 16.2,
-                "y": 14.3,
+                "x": 20.804,
+                "y": 17.704,
                 "z": 9.47
             },
             "config": {
                 "type": "TipSpot",
-                "size_x": 9.0,
-                "size_y": 9.0,
+                "size_x": 5.112,
+                "size_y": 5.112,
                 "size_z": 0,
                 "rotation": {
                     "x": 0,
@@ -1013,19 +1013,19 @@
                 "model": null,
                 "prototype_tip": {
                     "type": "Tip",
-                    "total_tip_length": 39.2,
+                    "total_tip_length": 88,
                     "has_filter": true,
-                    "maximal_volume": 20.0,
-                    "fitting_depth": 3.29
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 7.95
                 }
             },
             "data": {
                 "tip": {
                     "type": "Tip",
-                    "total_tip_length": 39.2,
+                    "total_tip_length": 88,
                     "has_filter": true,
-                    "maximal_volume": 20.0,
-                    "fitting_depth": 3.29
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 7.95
                 },
                 "tip_state": {
                     "liquids": [],
@@ -1034,10 +1034,10 @@
                 },
                 "pending_tip": {
                     "type": "Tip",
-                    "total_tip_length": 39.2,
+                    "total_tip_length": 88,
                     "has_filter": true,
-                    "maximal_volume": 20.0,
-                    "fitting_depth": 3.29
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 7.95
                 }
             }
         },
@@ -1050,14 +1050,14 @@
             "type": "device",
             "class": "",
             "position": {
-                "x": 16.2,
-                "y": 5.3,
+                "x": 20.804,
+                "y": 8.704,
                 "z": 9.47
             },
             "config": {
                 "type": "TipSpot",
-                "size_x": 9.0,
-                "size_y": 9.0,
+                "size_x": 5.112,
+                "size_y": 5.112,
                 "size_z": 0,
                 "rotation": {
                     "x": 0,
@@ -1069,19 +1069,19 @@
                 "model": null,
                 "prototype_tip": {
                     "type": "Tip",
-                    "total_tip_length": 39.2,
+                    "total_tip_length": 88,
                     "has_filter": true,
-                    "maximal_volume": 20.0,
-                    "fitting_depth": 3.29
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 7.95
                 }
             },
             "data": {
                 "tip": {
                     "type": "Tip",
-                    "total_tip_length": 39.2,
+                    "total_tip_length": 88,
                     "has_filter": true,
-                    "maximal_volume": 20.0,
-                    "fitting_depth": 3.29
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 7.95
                 },
                 "tip_state": {
                     "liquids": [],
@@ -1090,15 +1090,13 @@
                 },
                 "pending_tip": {
                     "type": "Tip",
-                    "total_tip_length": 39.2,
+                    "total_tip_length": 88,
                     "has_filter": true,
-                    "maximal_volume": 20.0,
-                    "fitting_depth": 3.29
+                    "maximal_volume": 1000.0,
+                    "fitting_depth": 7.95
                 }
             }
         },
-
-
         {
             "id": "plate_well",
             "name": "plate_well",
@@ -1555,8 +1553,6 @@
                 "liquid_history": []
             }
         },
-
-
         {
             "id": "plate_well_A11",
             "name": "plate_well_A11",
@@ -1869,12 +1865,10 @@
                 "liquid_history": []
             }
         },
-
         {
             "id": "benyao",
             "name": "benyao",
-            "children": [
-            ],
+            "children": [],
             "parent": null,
             "type": "device",
             "class": "moveit.benyao_arm",
@@ -1887,8 +1881,20 @@
                 "moveit_type": "benyao_arm",
                 "joint_poses": {
                     "arm": {
-                        "hotel_1": [1.05, 0.568, -1.0821, 0.0, 1.0821],
-                        "home": [0.865, 0.09, 0.8727, 0.0, -0.8727]
+                        "hotel_1": [
+                            1.05,
+                            0.568,
+                            -1.0821,
+                            0.0,
+                            1.0821
+                        ],
+                        "home": [
+                            0.865,
+                            0.09,
+                            0.8727,
+                            0.0,
+                            -0.8727
+                        ]
                     }
                 },
                 "rotation": {
@@ -1897,17 +1903,14 @@
                     "z": -1.5708,
                     "type": "Rotation"
                 },
-                "device_config": {
-                }
+                "device_config": {}
             },
-            "data": {
-            }
+            "data": {}
         },
         {
             "id": "hotel",
             "name": "hotel",
-            "children": [
-            ],
+            "children": [],
             "parent": null,
             "type": "device",
             "class": "hotel.thermo_orbitor_rs2_hotel",
@@ -1923,11 +1926,9 @@
                     "z": 0,
                     "type": "Rotation"
                 },
-                "device_config": {
-                }
+                "device_config": {}
             },
-            "data": {
-            }
+            "data": {}
         }
     ],
     "links": []
diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py
index 4f78b1c9..c5b327c9 100644
--- a/unilabos/ros/main_slave_run.py
+++ b/unilabos/ros/main_slave_run.py
@@ -80,11 +80,11 @@ def main(
             'joint_republisher',
             host_node.resource_tracker
         )
+        lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
+        executor.add_node(lh_joint_pub)
 
         executor.add_node(resource_mesh_manager)
         executor.add_node(joint_republisher)
-    lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
-    executor.add_node(lh_joint_pub)
 
     thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
     thread.start()