diff --git a/src/ign_world/launch/gazebo_controller_launch.py b/src/ign_world/launch/gazebo_controller_launch.py
index 1a93907..4db0447 100644
--- a/src/ign_world/launch/gazebo_controller_launch.py
+++ b/src/ign_world/launch/gazebo_controller_launch.py
@@ -63,6 +63,7 @@ def generate_launch_description():
             package='ros_actor_action_server',
             executable='ros_actor_action_server',
             output='both',
+            emulate_tty=True,
         ),
         
         Node(
@@ -72,8 +73,8 @@ def generate_launch_description():
             parameters=[
                 {
                     "trees": [
-                        get_package_share_directory('btree_trees')+'/trees/actorTree.xml',
-                        get_package_share_directory('btree_trees')+'/trees/robotTree.xml'
+                        get_package_share_directory('btree_trees')+'/trees/actorTreeCoex.xml',
+                        get_package_share_directory('btree_trees')+'/trees/robotTreeCoex.xml'
                     ],
                     "areas": [
                         "safeArea",
@@ -107,7 +108,8 @@ def generate_launch_description():
                         "0,     0.4"
                     ]
                 },
-            ]
+            ],
+            emulate_tty=True,
         ),
 
         IncludeLaunchDescription(