diff --git a/fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py b/fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py
index 3a3c10c..a03f3e9 100644
--- a/fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py
+++ b/fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py
@@ -5,6 +5,9 @@ from marker_pos_angle.msg import id_pos_angle
 from fiducial_msgs.msg import FiducialTransformArray
 from tf.transformations import euler_from_quaternion
 
+transform_topic = rospy.get_param("transform_topic", '/fiducial_transforms')
+output = rospy.get_param("output", 'True')
+
 pub = rospy.Publisher('marker_id_pos_angle', id_pos_angle, queue_size=10)
 '''
 This callback function listens to fiducial messages that describe the translation and rotation of markers w.r.t. to the camera and transforms them to a position in the 2d plane and the angle of the robot in the plane
@@ -24,12 +27,16 @@ def callback(data):
         m.y = -t.y
         m.angle = -euler[2]
 
+        if output == 'True':
+            print("(marker_id, pos_x, pos_y, angle) = ({}, {}, {}, {})".format(m.id, m.x, m.y, m.angle))
+
         pub.publish(m)
 
 def main(args):
-    rospy.init_node('euler_quaternion_node', anonymous=True)
+    rospy.init_node('fiducial_transform_node', anonymous=True)
 
-    quaternion_sub = rospy.Subscriber("/fiducial_transforms", FiducialTransformArray, callback)
+    print("Starting subscriber listening for {} topic".format(transform_topic))
+    quaternion_sub = rospy.Subscriber(transform_topic, FiducialTransformArray, callback)
 
     rospy.spin()