diff --git a/docs/reference/axros/examples.rst b/docs/reference/axros/examples.rst
index a44ab3592..94484b6a7 100644
--- a/docs/reference/axros/examples.rst
+++ b/docs/reference/axros/examples.rst
@@ -1,24 +1,24 @@
 Examples
 ^^^^^^^^
 
-The following example starts a sublisher and a subscriber which listens to the messages
-sublished by the sublisher. After two seconds, it reports how many messages it was
+The following example starts a publisher and a subscriber which listens to the messages
+published by the publisher. After two seconds, it reports how many messages it was
 able to successfully receive.
 
 .. code-block:: python
 
     import asyncio
     from rosgraph_msgs.msg import Clock
-    from axros import NodeHandle, sublisher, Subscriber
+    from axros import NodeHandle, Publisher, Subscriber
     import uvloop
 
-    async def subsub(nh: NodeHandle, sub: sublisher, sub: Subscriber):
+    async def pubsub(nh: NodeHandle, pub: Publisher, sub: Subscriber):
         count = 0
         try:
             while True:
                 await asyncio.sleep(0)
                 msg = (Clock(nh.get_time()))
-                sub.sublish(msg)
+                pub.publish(msg)
                 recv = await sub.get_next_message()
                 if (recv == msg):
                     count += 1
@@ -30,13 +30,13 @@ able to successfully receive.
     async def main():
         nh = await NodeHandle.from_argv("node", "", anonymous = True)
         async with nh:
-            sub = nh.advertise('clock2', Clock, latching = True)
+            pub = nh.advertise('clock2', Clock, latching = True)
             sub = nh.subscribe('clock2', Clock)
-            await asyncio.gather(sub.setup(), sub.setup())
-            subsub_task = asyncio.create_task(subsub(nh, sub, sub))
+            await asyncio.gather(pub.setup(), sub.setup())
+            pubsub_task = asyncio.create_task(pubsub(nh, pub, sub))
             print("Everything is setup. Waiting two seconds.")
             await asyncio.sleep(2)
-            subsub_task.cancel()
+            pubsub_task.cancel()
 
     if __name__ == "__main__":
         uvloop.install()
@@ -62,8 +62,8 @@ The node handle can be used for general purposes, such as parameters and sleepin
     This parameter does not exist!
     >>> await nh.sleep(2) # Sleeps for 2 seconds
 
-The node handle can also be used for sublishing and subscribing to topics. Note
-that all sublishers and subscribers must be setup.
+The node handle can also be used for publishing and subscribing to topics. Note
+that all Publishers and subscribers must be setup.
 
 .. code-block:: python
 
@@ -71,19 +71,19 @@ that all sublishers and subscribers must be setup.
     >>> import axros
     >>> nh = await axros.NodeHandle("/test", "special_node", "localhost", os.environ["ROS_MASTER_URI"], {})
     >>> from std_msgs.msg import Int32
-    >>> sub = nh.advertise("running_time", Int32)
-    >>> await sub.setup()
-    >>> async def sublish():
+    >>> pub = nh.advertise("running_time", Int32)
+    >>> await pub.setup()
+    >>> async def publish():
     ...     try:
     ...         count = 0
     ...         while True:
-    ...             sub.sublish(Int32(count))
+    ...             pub.publish(Int32(count))
     ...             count += 1
     ...             await asyncio.sleep(1)
     ...     except asyncio.CancelledError as _:
-    ...         # When task gets cancelled, stop sublishing
+    ...         # When task gets cancelled, stop publishing
     ...         pass
-    >>> task = asyncio.create_task(sublish()) # Start sublishing!
+    >>> task = asyncio.create_task(publish()) # Start publishing!
     >>> sub = nh.subscribe("running_time", Int32)
     >>> await sub.setup()
     >>> while True:
diff --git a/mil_common/axros b/mil_common/axros
index d0f12eedb..8cdf13186 160000
--- a/mil_common/axros
+++ b/mil_common/axros
@@ -1 +1 @@
-Subproject commit d0f12eedb4622f5bbc5ba4fb63ae350f27a51f4b
+Subproject commit 8cdf131866af08edf0bbe3ac9020e1da47b3e432