diff --git a/launch/decoder.launch b/launch/decoder.launch
index 5d24514..e512f3e 100644
--- a/launch/decoder.launch
+++ b/launch/decoder.launch
@@ -64,7 +64,7 @@
 
         <!-- input topics -->
         <remap from="~metadata" to="$(arg driver_ns)/metadata"/>
-        <remap from="~os_config" to="$(arg driver_ns)/os_config"/>
+        <remap from="~get_metadata" to="$(arg driver_ns)/get_metadata"/>
         <remap from="~imu_packets" to="$(arg driver_ns)/imu_packets"/>
         <remap from="~lidar_packets" to="$(arg driver_ns)/lidar_packets"/>
 
@@ -76,4 +76,4 @@
         <remap from="~range" to="range"/>
         <remap from="~signal" to="signal"/>
     </node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/launch/driver.launch b/launch/driver.launch
index aa45678..432fc63 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -21,17 +21,4 @@
         <param name="~/imu_port" value="$(arg imu_port)"/>
         <param name="~/metadata" value="$(arg metadata)"/>
     </node>
-
-    <!-- Get rid of this later -->
-    <node pkg="ouster_ros" type="os_cloud_node" name="os_cloud_node" output="screen" required="true">
-        <remap from="~/os_config" to="/os_node/os_config"/>
-        <remap from="~/lidar_packets" to="/os_node/lidar_packets"/>
-        <remap from="~/imu_packets" to="/os_node/imu_packets"/>
-        <param name="~/tf_prefix" value="$(arg tf_prefix)"/>
-    </node>
-
-    <!-- <node pkg="ouster_ros" name="img_node" type="img_node" output="screen" required="true">
-        <remap from="~/os_config" to="/os_node/os_config"/>
-        <remap from="~/points" to="/os_cloud_node/points"/>
-    </node> -->
-</launch>
\ No newline at end of file
+</launch>
diff --git a/src/decoder.cpp b/src/decoder.cpp
index 0b39c6a..fb23a56 100644
--- a/src/decoder.cpp
+++ b/src/decoder.cpp
@@ -4,7 +4,7 @@
 #include <tf2_ros/static_transform_broadcaster.h>
 
 #include "lidar.h"
-#include "ouster_ros/OSConfigSrv.h"
+#include "ouster_ros/GetMetadata.h"
 #include "ouster_ros/PacketMsg.h"
 
 namespace ouster_decoder {
@@ -138,7 +138,7 @@ void Decoder::InitParams() {
 void Decoder::InitOuster() {
   ROS_INFO_STREAM("=== Initializing Ouster Decoder ===");
   // wait for service
-  auto client = pnh_.serviceClient<ouster_ros::OSConfigSrv>("os_config");
+  auto client = pnh_.serviceClient<ouster_ros::GetMetadata>("get_metadata");
 
   // NOTE: it is possible that in replay mode, the service was shutdown and
   // re-advertised. If the client call is too soon, then we risk getting the old
@@ -151,10 +151,10 @@ void Decoder::InitOuster() {
 
   client.waitForExistence();
 
-  ouster_ros::OSConfigSrv cfg{};
+  ouster_ros::GetMetadata srv{};
   // Initialize everything if service call is successful
-  if (client.call(cfg)) {
-    InitModel(cfg.response.metadata);
+  if (client.call(srv)) {
+    InitModel(srv.response.metadata);
     InitScan(model_);
     SendTransform(model_);
   } else {
diff --git a/src/driver.cpp b/src/driver.cpp
index 43104b2..a85a168 100644
--- a/src/driver.cpp
+++ b/src/driver.cpp
@@ -13,7 +13,7 @@
  */
 
 // This is a modified version of ouster_ros/os_node.cpp
-// It is intended to have the same behavior as os_node. 
+// It is intended to have the same behavior as os_node.
 // The only difference is that we also advertise the metadata message.
 
 #include <ros/ros.h>
@@ -23,14 +23,12 @@
 #include <sstream>
 #include <string>
 
-// #include "ouster/build.h"
-#include "ouster/types.h"
-#include "ouster_ros/OSConfigSrv.h"
+#include "ouster_ros/GetMetadata.h"
 #include "ouster_ros/PacketMsg.h"
-#include "ouster_ros/ros.h"
+#include "ouster_ros/os_ros.h"
 
 using PacketMsg = ouster_ros::PacketMsg;
-using OSConfigSrv = ouster_ros::OSConfigSrv;
+using OsGetMetadata = ouster_ros::GetMetadata;
 namespace sensor = ouster::sensor;
 
 // fill in values that could not be parsed from metadata
@@ -130,9 +128,9 @@ void advertise_service(ros::NodeHandle& nh,
              srv.getService().c_str());
     srv.shutdown();
   }
-  srv = nh.advertiseService<OSConfigSrv::Request, OSConfigSrv::Response>(
-      "os_config",
-      [metadata](OSConfigSrv::Request&, OSConfigSrv::Response& res) {
+  srv = nh.advertiseService<OsGetMetadata::Request, OsGetMetadata::Response>(
+      "get_metadata",
+      [metadata](OsGetMetadata::Request&, OsGetMetadata::Response& res) {
         if (metadata.empty()) return false;
         res.metadata = metadata;
         return true;
@@ -279,9 +277,9 @@ int main(int argc, char** argv) {
     pub_meta.publish(meta_msg);
     ROS_INFO("Publish metadata to %s", pub_meta.getTopic().c_str());
 
-    srv = nh.advertiseService<OSConfigSrv::Request, OSConfigSrv::Response>(
-        "os_config",
-        [metadata](OSConfigSrv::Request&, OSConfigSrv::Response& res) {
+    srv = nh.advertiseService<OsGetMetadata::Request, OsGetMetadata::Response>(
+        "get_metadata",
+        [metadata](OsGetMetadata::Request&, OsGetMetadata::Response& res) {
           if (metadata.empty()) return false;
           res.metadata = metadata;
           return true;
diff --git a/src/lidar.h b/src/lidar.h
index 0c85ad2..6a161ad 100644
--- a/src/lidar.h
+++ b/src/lidar.h
@@ -4,7 +4,7 @@
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/PointCloud2.h>
 
-#include "ouster_ros/ros.h"
+#include "ouster_ros/os_ros.h"
 
 namespace ouster_decoder {