diff --git a/run.sh b/run.sh
index cd8eb02..759723d 100755
--- a/run.sh
+++ b/run.sh
@@ -1,14 +1,19 @@
 #!/bin/bash
+ID=$1
+if [[ -n ${ID//[0-9]/} ]]; then
+    echo "Invalid pioneer number!"
+    exit 1
+fi
 source /opt/ros/hydro/setup.bash
 source /home/lab1_5/ws/ws_linux/devel/setup.bash
 export ROS_MASTER_URI='http://10.104.16.29:11311'
-export ROS_IP=10.104.16.44
-export PIONIER_ID=4
-export ROS_NAMESPACE=/PIONIER${PIONIER_ID}
+export ROS_IP=10.104.16.4${ID}
+export PIONIER_ID=${ID}
+export ROS_NAMESPACE=/PIONIER${ID}
 
 #rosrun rosaria RosAria _port:=/dev/ttyS0 & >/dev/null 2>&1
-rosrun rosaria RosAria _port:=/dev/ttyS0 _tf_prefix:=/PIONIER${PIONIER_ID} &
+rosrun rosaria RosAria _port:=/dev/ttyS0 _tf_prefix:=/PIONIER${ID} &
 #rosrun safety cloud_reader 0.7 &
-rosrun hokuyo_node hokuyo_node _frame_id:="PIONIER${PIONIER_ID}/laser${PIONIER_ID}" &
+rosrun hokuyo_node hokuyo_node _frame_id:="${ROS_NAMESPACE}/laser" &
 #rosrun videostream videostream &
 #cvlc v4l2:///dev/video0 :v4l2-standard=  :sout='#transcode{vcodec=FLV1,vb=0,scale=0,acodec=none}:http{mux=ffmpeg{mux=flv},dst=:8080/}' :sout-keep :live-caching=300 &