diff --git a/src/baxter_interface/camera.py b/src/baxter_interface/camera.py
index ea2b57e..a658add 100644
--- a/src/baxter_interface/camera.py
+++ b/src/baxter_interface/camera.py
@@ -75,7 +75,7 @@ def __init__(self, name):
 
         list_svc = rospy.ServiceProxy('/cameras/list', ListCameras)
         rospy.wait_for_service('/cameras/list', timeout=10)
-        if not self._id in list_svc().cameras:
+        if not self._id in ["left_hand_camera","right_hand_camera","head_camera"]:
             raise AttributeError(
                 ("Cannot locate a service for camera name '{0}'. "
                 "Close a different camera first and try again.".format(self._id)))
diff --git a/src/baxter_interface/digital_io.py b/src/baxter_interface/digital_io.py
index b65e088..65bb99c 100644
--- a/src/baxter_interface/digital_io.py
+++ b/src/baxter_interface/digital_io.py
@@ -95,7 +95,7 @@ def _on_io_state(self, msg):
 
         # trigger signal if changed
         if old_state is not None and old_state != new_state:
-            self.state_changed(new_state)
+            self.state_changed(new_state,self._id)
 
     @property
     def is_output(self):
diff --git a/src/baxter_interface/navigator.py b/src/baxter_interface/navigator.py
index 114f9fc..36f4199 100644
--- a/src/baxter_interface/navigator.py
+++ b/src/baxter_interface/navigator.py
@@ -177,11 +177,11 @@ def _on_state(self, msg):
                    ]
         for i, signal in enumerate(buttons):
             if old_state.buttons[i] != msg.buttons[i]:
-                signal(msg.buttons[i])
+                signal(msg.buttons[i],self._id,"button",i)
 
         if old_state.wheel != msg.wheel:
             diff = msg.wheel - old_state.wheel
             if abs(diff % 256) < 127:
-                self.wheel_changed(diff % 256)
+                self.wheel_changed(diff % 256,self._id,"wheel",msg.wheel)
             else:
-                self.wheel_changed(diff % (-256))
+                self.wheel_changed(diff % (-256),self._id,"wheel",msg.wheel)