diff --git a/Varianten/AdapterFIDEROS/src/Adapter.java b/Varianten/AdapterFIDEROS/src/Adapter.java
index a3fce3a7934f4503dfb05b864c72f90c59f48639..8cfed79426d7e95b995fab5da215b8af0ce7b47b 100644
--- a/Varianten/AdapterFIDEROS/src/Adapter.java
+++ b/Varianten/AdapterFIDEROS/src/Adapter.java
@@ -94,16 +94,17 @@ public class Adapter {
 	 */
 	public static void main(String[] args) {
 		try {
+			//TODO
+			//######### Input ###############################
 			Document featureModel = readXml("resources/input/featuremodel.xml");
 			Document sensorConfig = readXml("resources/input/sensorconfig.xml");
 			Document gazeboModel = null;
 			
-			//TODO
-			//######### Operate on featuremodel.xml #########
 			//CustomBot not supported for now
 			List<Attribute> botList = xQueryAttributes(featureModel, "//module[@types='TurtleBot']/@name");
-			
 			String botName = "";
+			String fileName = "";
+			
 			switch(botList.size()) {
 				case 0:
 					System.out.println("Invalid input: No bot selected\n");
@@ -119,19 +120,19 @@ public class Adapter {
 			}
 			switch(botName) {
 				case "Burger":
-					gazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/turtlebot3_burger.gazebo.xacro");
+					fileName = "turtlebot3_burger.gazebo.xacro";
 					break;
 				case "Waffle":
-					gazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/turtlebot3_waffle.gazebo.xacro");
+					fileName = "turtlebot3_waffle.gazebo.xacro";
 					break;
 				case "WafflePi":
-					gazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/turtlebot3_waffle_pi.gazebo.xacro");
+					fileName = "turtlebot3_waffle_pi.gazebo.xacro";
 					break;
 				default:
 					System.out.println("Cannot handle \'"+botName+"\': No input file known.\n");
 					System.exit(-1);
 			}
-			
+			gazeboModel = readXml("resources/input/turtlebot3-master/turtlebot3_description/urdf/"+fileName);
 			//###############################################
 			
 			
@@ -142,13 +143,12 @@ public class Adapter {
 			//###############################################
 			
 			
-			FileOutputStream dest = new FileOutputStream("resources/output/turtlebot3_burger.gazebo.xacro");
-			XMLOutputter xmlOutput = new XMLOutputter();
-			
 			//TODO
 			//######### Output result #######################
+			FileOutputStream dest = new FileOutputStream("resources/output/"+fileName);
+			XMLOutputter xmlOutput = new XMLOutputter();
+			
 			xmlOutput.output(gazeboModel, dest);
-
 			//###############################################