diff --git a/CMakeLists.txt b/CMakeLists.txt
index 77026c53ba80cc5233eaadd86475582307d43b13..b8d4c461a938bb420398e9cd5fd304643287774a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -161,7 +161,7 @@ if(pigpiod)
     ## The above recommended prefix causes long target names, the following renames the
     ## target back to the shorter version for ease of user use
     ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-    set_target_properties(${PROJECT_NAME}_rpi_node PROPERTIES OUTPUT_NAME rpi_node PREFIX "")
+    set_target_properties(${PROJECT_NAME}_rpi_node PROPERTIES OUTPUT_NAME driver_mpu9250_rpi PREFIX "")
     ## Add cmake target dependencies of the executable
     ## same as for the library above
     # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
diff --git a/README.md b/README.md
index 4e7e110f84e5f91daf68d2524a6e4524c7823b55..879fc0b659fe00f87b2855215a3e310d91027d05 100644
--- a/README.md
+++ b/README.md
@@ -38,11 +38,11 @@ To build from source, clone the latest version from this repository into your ca
 
 Run any of the driver nodes with (where xxx is the driver type):
 
-        rosrun driver_mpu9250 xxx_node
+        rosrun driver_mpu9250 driver_mpu9250_xxx
 
 For example, to run the node using a driver for a Raspberry Pi:
 
-        rosrun driver_mpu9250 rpi_node
+        rosrun driver_mpu9250 driver_mpu9250_rpi
 
 ## Nodes