diff --git a/src/astra_descriptions b/src/astra_descriptions
index 2481b22..3e6cf87 160000
--- a/src/astra_descriptions
+++ b/src/astra_descriptions
@@ -1 +1 @@
-Subproject commit 2481b2296965f6a479c92211a121dcaf00a6c787
+Subproject commit 3e6cf87393bba6b1dec78bebe584866aff5bf731
diff --git a/src/latency_tester/src/embedded_ping.cpp b/src/latency_tester/src/embedded_ping.cpp
index 37c301f..d1efc04 100644
--- a/src/latency_tester/src/embedded_ping.cpp
+++ b/src/latency_tester/src/embedded_ping.cpp
@@ -26,7 +26,7 @@ class LatencyTester : public rclcpp::Node
 {
 public:
     LatencyTester()
-    : Node("latency_tester"), count_(0), target_mcu_("core")
+    : Node("latency_tester"), count_(0)
     {
         publisher_ = this->create_publisher<std_msgs::msg::String>("/anchor/relay", 10);
         timer_ = this->create_wall_timer(
@@ -35,6 +35,8 @@ public:
             "/anchor/debug",
             10,
             std::bind(&LatencyTester::response_callback, this, std::placeholders::_1));
+
+        target_mcu_ = this->declare_parameter<std::string>("target_mcu", "core");
     }
 
 private: