diff --git a/Dockerfile b/Dockerfile
index f59a7bb..247e2e7 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -24,6 +24,10 @@ RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs`
     ros-kinetic-joy \
  && apt-get clean
 
+RUN wget -P /tmp/ https://bitbucket.org/osrf/gazebo_models/get/default.tar.gz \
+ && mkdir -p $HOME/.gazebo/models \
+ && tar -xvf /tmp/default.tar.gz -C $HOME/.gazebo/models --strip 1 \
+ && rm /tmp/default.tar.gz
 
 RUN mkdir -p /tmp/workspace/src
 COPY prius_description /tmp/workspace/src/prius_description
@@ -35,10 +39,4 @@ RUN /bin/bash -c 'cd /tmp/workspace \
 
 RUN rosdep update
 
-RUN wget -P /tmp/ https://bitbucket.org/osrf/gazebo_models/get/default.tar.gz \
- && mkdir -p $HOME/.gazebo/models \
- && tar -xvf /tmp/default.tar.gz -C $HOME/.gazebo/models --strip 1 \
- && rm /tmp/default.tar.gz
-
-
 CMD ["/bin/bash", "-c", "source /opt/ros/kinetic/setup.bash && source /tmp/workspace/devel/setup.bash && roslaunch prius_description gazebo.launch"]
diff --git a/prius_plugin/nodes/joystick_translator b/prius_plugin/nodes/joystick_translator
index 6fa991c..49841f4 100755
--- a/prius_plugin/nodes/joystick_translator
+++ b/prius_plugin/nodes/joystick_translator
@@ -34,13 +34,13 @@ class Translator:
             command.throttle = 0.0
 
         if message.buttons[3]:
-            command.shift_gears = Joy.FORWARD
+            command.shift_gears = Control.FORWARD
         elif message.buttons[1]:
-            command.shift_gears = Joy.NEUTRAL
+            command.shift_gears = Control.NEUTRAL
         elif message.buttons[0]:
-            command.shift_gears = Joy.REVERSE
+            command.shift_gears = Control.REVERSE
         else:
-            command.shift_gears = Joy.NO_COMMAND
+            command.shift_gears = Control.NO_COMMAND
 
         command.steer = message.axes[STEERING_AXIS]
         self.last_published = message