diff --git a/kinect2_bridge/launch/kinect2_bridge.launch b/kinect2_bridge/launch/kinect2_bridge.launch
index 58b17f10..9f14afd6 100644
--- a/kinect2_bridge/launch/kinect2_bridge.launch
+++ b/kinect2_bridge/launch/kinect2_bridge.launch
@@ -1,7 +1,7 @@
 <launch>
 
   <arg name="base_name"         default="kinect2"/>
-  <arg name="sensor"            default="-1" />
+  <arg name="sensor"            default="" />
   <arg name="publish_tf"        default="false" />
   <arg name="base_name_tf"      default="$(arg base_name)" />
   <arg name="fps_limit"         default="-1.0"/>
diff --git a/kinect2_bridge/src/kinect2_bridge.cpp b/kinect2_bridge/src/kinect2_bridge.cpp
index 8b47798a..a4fa3fd6 100644
--- a/kinect2_bridge/src/kinect2_bridge.cpp
+++ b/kinect2_bridge/src/kinect2_bridge.cpp
@@ -223,7 +223,6 @@ class Kinect2Bridge
     double fps_limit, maxDepth, minDepth;
     bool use_png, bilateral_filter, edge_aware_filter;
     int32_t jpeg_quality, png_level, queueSize, reg_dev, depth_dev, worker_threads;
-    double tmp;
     std::string depth_method, reg_method, calib_path, sensor;
 
     std::string depthDefault = "cpu";
@@ -240,7 +239,7 @@ class Kinect2Bridge
 #endif
 
     nh.param("base_name", ns, std::string(K2_DEFAULT_NS));
-    nh.param("sensor", tmp, -1.0);
+    nh.param("sensor", sensor, std::string(""));
     nh.param("fps_limit", fps_limit, -1.0);
     nh.param("calib_path", calib_path, std::string(K2_CALIB_PATH));
     nh.param("use_png", use_png, false);
@@ -259,11 +258,6 @@ class Kinect2Bridge
     nh.param("base_name_tf", baseNameTF, ns);
     nh.param("worker_threads", worker_threads, 4);
 
-    if(tmp > 0)
-    {
-      sensor = std::to_string((uint64_t)tmp);
-    }
-
     worker_threads = std::max(1, worker_threads);
     threads.resize(worker_threads);
 
diff --git a/kinect2_calibration/src/kinect2_calibration.cpp b/kinect2_calibration/src/kinect2_calibration.cpp
index ed4e2505..ab190470 100644
--- a/kinect2_calibration/src/kinect2_calibration.cpp
+++ b/kinect2_calibration/src/kinect2_calibration.cpp
@@ -1152,7 +1152,7 @@ int main(int argc, char **argv)
     {
       symmetric = arg.find("circle") == 0;
       circleBoard = true;
-      const size_t start = 6;
+      const size_t start = 6 + (symmetric ? 0 : 1);
       const size_t leftX = arg.find('x');
       const size_t rightX = arg.rfind('x');
       const size_t end = arg.size();