diff --git a/include/viper/Node.h b/include/viper/Node.h
index 5980931..c59ab22 100644
--- a/include/viper/Node.h
+++ b/include/viper/Node.h
@@ -83,7 +83,7 @@ class Node : public rclcpp::Node
 /************** code************/
  
 static uint16_t constexpr setpoint_velocity_ID = 113;
- cyphal::Publisher<zubax::primitive::real16::Vector4> setpoint_velocity_ID;
+ cyphal::Publisher<zubax::primitive::real16::Vector31.1.0> setpoint_velocity_ID;
 
   static std::chrono::milliseconds constexpr CTRL_LOOP_RATE{10};
   rclcpp::TimerBase::SharedPtr _ctrl_loop_timer;
diff --git a/src/Node.cpp b/src/Node.cpp
index 5196543..d4dbfe6 100644
--- a/src/Node.cpp
+++ b/src/Node.cpp
@@ -83,7 +83,7 @@ Node::Node()
 
   _cyphal_demo_pub = _node_hdl.create_publisher<uavcan::primitive::real16::Integer8_1_0>(CYPHAL_DEMO_PORT_ID, 1*1000*1000UL);
 
- setpoint_velocity_ID= _node_hdl.create_subscription<zubax::primitive::real16::Vector4>(setpoint_velocity_ID,1*1000*1000UL)
+ setpoint_velocity_ID= _node_hdl.create_subscription<zubax::primitive::real16::Vector31.1.0>(setpoint_velocity_ID,1*1000*1000UL)
 
 
   RCLCPP_INFO(get_logger(), "%s init complete.", get_name());
@@ -225,9 +225,9 @@ void Node::ctrl_loop()
   _cyphal_demo_pub->publish(demo_msg);
   demo_cnt++;
 
-setpoint_velocity_ID = _node_hdl.create_publisher<zubax::primitive::real16::Vector4>(setpoint_velocity_ID, 1*1000*1000UL)
+setpoint_velocity_ID = _node_hdl.create_publisher<zubax::primitive::real16::Vector31.1.0>(setpoint_velocity_ID, 1*1000*1000UL)
 float motor_values[4] = {100.0, 100.0, 100.0, 100.0};
-zubax::primitive::real16::Vector4 const motor_msg{motor_values};
+zubax::primitive::real16::Vector31.1.0 const motor_msg{motor_values};
 setpoint_velocity_ID->publish(motor_msg);