diff --git a/zed_wrapper/launch/PCtoLS.launch b/zed_wrapper/launch/PCtoLS.launch
new file mode 100644
index 00000000..3e11108b
--- /dev/null
+++ b/zed_wrapper/launch/PCtoLS.launch
@@ -0,0 +1,69 @@
+<!--
+Launches point cloud to laser scan node: http://wiki.ros.org/pointcloud_to_laserscan
+-->
+<launch>
+    <remap from="/scan" to="/pc2ls"/>
+
+    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="point_cloud_to_laser" output="screen" respawn="true" >
+    <remap from="/cloud_in" to="/zed2/zed_node/point_cloud/ds_cloud_registered"/>
+        <param name="min_height" value="0.0"/>
+        <param name="max_height" value="1.0"/>
+        <param name="angle_min" value="-3.14/2"/>
+        <param name="angle_max" value="3.14/2"/>
+        <param name="angle_increment" value="3.14/360"/>
+        <param name="scan_time" value="1.0/30.0"/>
+        <param name="range_min" value="0.45"/>
+        <param name="range_max" value="4.0"/>
+        <!-- <param name="target_frame" value="none"/> -->
+        <param name="concurrency_level" value="1"/>
+        <param name="use_inf" value="true"/>
+    </node>
+</launch>
+
+<!--
+Params of pointcloud_to_laserscan
+
+~min_height (double, default: 0.0)
+
+    The minimum height to sample in the point cloud in meters. 
+
+~max_height (double, default: 1.0)
+
+    The maximum height to sample in the point cloud in meters. 
+
+~angle_min (double, default: -π/2)
+
+    The minimum scan angle in radians. 
+
+~angle_max (double, default: π/2)
+
+    The maximum scan angle in radians. 
+
+~angle_increment (double, default: π/360)
+
+    Resolution of laser scan in radians per ray. 
+
+~scan_time (double, default: 1.0/30.0)
+
+    The scan rate in seconds. 
+
+~range_min (double, default: 0.45)
+
+    The minimum ranges to return in meters. 
+
+~range_max (double, default: 4.0)
+
+    The maximum ranges to return in meters. 
+
+~target_frame (str, default: none)
+
+    If provided, transform the pointcloud into this frame before converting to a laser scan. Otherwise, laser scan will be generated in the same frame as the input point cloud. 
+
+~concurrency_level (int, default: 1)
+
+    Number of threads to use for processing pointclouds. If 0, automatically detect number of cores and use the equivalent number of threads. Input queue size for pointclouds is tied to this parameter. In nodelet form, number of threads is capped by the nodelet manager configuration. 
+
+~use_inf (boolean, default: true)
+
+    If disabled, report infinite range (no obstacle) as range_max + 1. Otherwise report infinite range as +inf. Associated with the inf_is_valid parameter for costmap_2d obstacle layers. 
+-->
diff --git a/zed_wrapper/launch/zed2_robot.launch b/zed_wrapper/launch/zed2_robot.launch
new file mode 100644
index 00000000..a09d20c3
--- /dev/null
+++ b/zed_wrapper/launch/zed2_robot.launch
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<!--
+Copyright (c) 2023, STEREOLABS.
+
+All rights reserved.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+<launch>
+    <arg name="svo_file"             default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
+    <arg name="stream"               default="" /> <!-- <arg name="stream" default="<ip_address>:<port>"> -->
+
+    <arg name="node_name"            default="zed_node" />
+    <arg name="camera_model"         default="zed2" />
+    <arg name="publish_urdf"         default="true" />
+
+    <arg name="camera_name"          default="zed2" />
+
+    <arg name="base_frame"           default="Cam1_ry_rz" /> <!-- <arg name="base_frame"           default="Cam1_ry_rz" /> -->
+
+    <arg name="cam_pos_x"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
+    <arg name="cam_pos_y"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
+    <arg name="cam_pos_z"             default="0.0" /> <!-- Position respect to base frame (i.e. "base_link) -->
+    <arg name="cam_roll"              default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
+    <arg name="cam_pitch"             default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
+    <arg name="cam_yaw"               default="0.0" /> <!-- Orientation respect to base frame (i.e. "base_link) -->
+
+    <group ns="$(arg camera_name)">
+        <include file="$(find zed_wrapper)/launch/include/zed_camera.launch.xml">
+            <arg name="camera_name"         value="$(arg camera_name)" />
+            <arg name="svo_file"            value="$(arg svo_file)" />
+            <arg name="stream"              value="$(arg stream)" />
+            <arg name="node_name"           value="$(arg node_name)" />
+            <arg name="camera_model"        value="$(arg camera_model)" />
+            <arg name="base_frame"          value="$(arg base_frame)" />
+            <arg name="publish_urdf"        value="$(arg publish_urdf)" />
+            <arg name="cam_pos_x"           value="$(arg cam_pos_x)" />
+            <arg name="cam_pos_y"           value="$(arg cam_pos_y)" />
+            <arg name="cam_pos_z"           value="$(arg cam_pos_z)" />
+            <arg name="cam_roll"            value="$(arg cam_roll)" />
+            <arg name="cam_pitch"           value="$(arg cam_pitch)" />
+            <arg name="cam_yaw"             value="$(arg cam_yaw)" />
+        </include>
+    </group>
+
+    <include file="$(find pc_processing)/launch/pc_downsample.launch"/>
+
+</launch>
diff --git a/zed_wrapper/params/common.yaml b/zed_wrapper/params/common.yaml
index f2c752bb..7f1dc488 100644
--- a/zed_wrapper/params/common.yaml
+++ b/zed_wrapper/params/common.yaml
@@ -26,11 +26,11 @@ general:
     base_frame:                 'base_link'                     # must be equal to the frame_id used in the URDF file
     sdk_verbose:                1                               # Set verbose level of the ZED SDK
     svo_compression:            2                               # `0`: LOSSLESS, `1`: AVCHD, `2`: HEVC
-    self_calib:                 true                            # enable/disable self calibration at starting
-    camera_flip:                'AUTO'                          # camera flip mode: 'OFF', 'ON', 'AUTO'
+    self_calib:                 false                            # enable/disable self calibration at starting
+    camera_flip:                'OFF'                          # camera flip mode: 'OFF', 'ON', 'AUTO'
     pub_resolution:             'CUSTOM'                        # The resolution used for output. 'NATIVE' to use the same `general.grab_resolution` - `CUSTOM` to apply the `general.pub_downscale_factor` downscale factory to reduce bandwidth in transmission
     pub_downscale_factor:       2.0                             # rescale factor used to rescale image before publishing when 'pub_resolution' is 'CUSTOM'
-    pub_frame_rate:             15.0                            # frequency of publishing of video and depth data (see SDK API "InitParameters::grab_compute_capping_fps")
+    pub_frame_rate:             10.0                            # frequency of publishing of video and depth data (see SDK API "InitParameters::grab_compute_capping_fps")
     svo_realtime:               true                            # if true the input SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
     region_of_interest:         '[]'                            # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
     #region_of_interest:        '[[0.25,0.33],[0.75,0.33],[0.75,0.5],[0.5,0.75],[0.25,0.5]]' # A polygon defining the ROI where the ZED SDK perform the processing ignoring the rest. Coordinates must be normalized to '1.0' to be resolution independent.
@@ -40,17 +40,17 @@ general:
 #video:
 
 depth:
-    depth_mode:                 'ULTRA'                         # 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL'
+    depth_mode:                 'NEURAL'                         # 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL'
     depth_stabilization:        1                               # [0-100] - 0: Disabled
     openni_depth_mode:          false                           # 'false': 32bit float meter units, 'true': 16bit uchar millimeter units
 
 pos_tracking:
-    pos_tracking_enabled:       true                            # True to enable positional tracking from start
+    pos_tracking_enabled:       false                            # True to enable positional tracking from start
     pos_tracking_mode:          'STANDARD'                      # Matches the ZED SDK setting: 'QUALITY', 'STANDARD' -> Use 'QUALITY' with 'ULTRA' depth mode for improved outdoors performance
-    set_gravity_as_origin:      true                            # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
-    imu_fusion:                 true                            # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
-    publish_tf:                 true                            # publish `odom -> base_link` TF
-    publish_map_tf:             true                            # publish `map -> odom` TF
+    set_gravity_as_origin:      false                            # If 'true' align the positional tracking world to imu gravity measurement. Keep the yaw from the user initial pose.
+    imu_fusion:                 false                            # enable/disable IMU fusion. When set to false, only the optical odometry will be used.
+    publish_tf:                 false                            # publish `odom -> base_link` TF
+    publish_map_tf:             false                            # publish `map -> odom` TF
     map_frame:                  'map'                           # main frame
     odometry_frame:             'odom'                          # odometry frame
     area_memory_db_path:        ''                              # file loaded when the node starts to restore the "known visual features" map. 
@@ -58,7 +58,7 @@ pos_tracking:
     area_memory:                true                            # Enable to detect loop closure
     floor_alignment:            false                           # Enable to automatically calculate camera/floor offset
     initial_base_pose:          [0.0,0.0,0.0, 0.0,0.0,0.0]      # Initial position of the `base_frame` -> [X, Y, Z, R, P, Y]
-    init_odom_with_first_valid_pose: true                       # Enable to initialize the odometry with the first valid pose
+    init_odom_with_first_valid_pose: false                       # Enable to initialize the odometry with the first valid pose
     path_pub_rate:              2.0                             # Camera trajectory publishing frequency
     path_max_count:             -1                              # use '-1' for unlimited path size
     two_d_mode:                 false                           # Force navigation on a plane. If true the Z value will be fixed to "fixed_z_value", roll and pitch to zero
@@ -84,11 +84,11 @@ object_detection:
     max_range:                          15.                             # Maximum detection range
     allow_reduced_precision_inference:  true                            # Allow inference to run at a lower precision to improve runtime and memory usage
     prediction_timeout:                 0.5                             #  During this time [sec], the object will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions            
-    object_tracking_enabled:            true                            # Enable/disable the tracking of the detected objects
-    mc_people:                          true                            # Enable/disable the detection of persons for 'MULTI_CLASS_BOX_X' models
-    mc_vehicle:                         true                            # Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX_X' models
-    mc_bag:                             true                            # Enable/disable the detection of bags for 'MULTI_CLASS_BOX_X' models
-    mc_animal:                          true                            # Enable/disable the detection of animals for 'MULTI_CLASS_BOX_X' models
-    mc_electronics:                     true                            # Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX_X' models
-    mc_fruit_vegetable:                 true                            # Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX_X' models
-    mc_sport:                           true                            # Enable/disable the detection of sport-related objects for 'MULTI_CLASS_BOX_X' models
+    object_tracking_enabled:            false                            # Enable/disable the tracking of the detected objects
+    mc_people:                          false                           # Enable/disable the detection of persons for 'MULTI_CLASS_BOX_X' models
+    mc_vehicle:                         false                            # Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX_X' models
+    mc_bag:                             false                            # Enable/disable the detection of bags for 'MULTI_CLASS_BOX_X' models
+    mc_animal:                          false                            # Enable/disable the detection of animals for 'MULTI_CLASS_BOX_X' models
+    mc_electronics:                     false                            # Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX_X' models
+    mc_fruit_vegetable:                 false                            # Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX_X' models
+    mc_sport:                           false                            # Enable/disable the detection of sport-related objects for 'MULTI_CLASS_BOX_X' models
diff --git a/zed_wrapper/params/zed2.yaml b/zed_wrapper/params/zed2.yaml
index e6f18f53..8c3c5617 100644
--- a/zed_wrapper/params/zed2.yaml
+++ b/zed_wrapper/params/zed2.yaml
@@ -4,8 +4,8 @@
 
 general:
     camera_model:               'zed2'
-    grab_resolution:            'HD720'     # 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
-    grab_frame_rate:            30          # Frequency of frame grabbing for internal SDK operations
+    grab_resolution:            'HD1080'     # 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
+    grab_frame_rate:            15          # Frequency of frame grabbing for internal SDK operations
 
 depth:
     min_depth:                  0.3         # Min: 0.2, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory