diff --git a/command/sub8_launch/launch/sub8.launch b/command/sub8_launch/launch/sub8.launch
index 4c03b97e..b0be2cb7 100644
--- a/command/sub8_launch/launch/sub8.launch
+++ b/command/sub8_launch/launch/sub8.launch
@@ -19,4 +19,5 @@
   <include file="$(find sub8_launch)/launch/subsystems/rise.launch"/>
   <include file="$(find sub8_launch)/launch/subsystems/online_bagger.launch"/>
   <include file="$(find sub8_alarm)/launch/alarms.launch" />
+  <include file="$(find sub8_launch)/launch/mission_server.launch" />
 </launch>
diff --git a/legacy/rise_6dof/src/rise_6dof/controller.py b/legacy/rise_6dof/src/rise_6dof/controller.py
index 4792e2f8..9364fb91 100644
--- a/legacy/rise_6dof/src/rise_6dof/controller.py
+++ b/legacy/rise_6dof/src/rise_6dof/controller.py
@@ -3,7 +3,7 @@
 import numpy
 
 from tf import transformations
-from sub8.pose_editor import quat_to_rotvec
+from mil_ros_tools.geometry_helpers import quat_to_rotvec
 
 numpy.set_printoptions(suppress=True, linewidth=130)
 
diff --git a/scripts/bash_aliases.sh b/scripts/bash_aliases.sh
index eae9a923..9c7a560e 100755
--- a/scripts/bash_aliases.sh
+++ b/scripts/bash_aliases.sh
@@ -15,8 +15,7 @@ alias rsub="ros_connect -n ${HOSTNAMES[0]}"
 alias sshsub="ssh sub8@${HOSTNAMES[0]} -Y"
 
 # Missions
-alias subm="rosrun sub8_missions run_mission"
-alias subc="rosrun sub8_missions move_command"
+alias submove="runmission Move"
 
 # Cameras
 alias subfps="rostopic hz $bag_front_cams $bag_down_cam"