diff --git a/config/OAK-D.yaml b/config/OAK-D.yaml
index 22a9dc4..2825ffd 100644
--- a/config/OAK-D.yaml
+++ b/config/OAK-D.yaml
@@ -1,5 +1,5 @@
 /rgbd_camera:
   camera_i_nn_type: none
   stereo_i_subpixel: true
-  left_i_publish_topic: true
-  stereo_i_output_disparity: true
+  # left_i_publish_topic: true
+  # stereo_i_output_disparity: true
diff --git a/launch/rgbd.launch b/launch/rgbd.launch
index 8bf4060..819ff5c 100644
--- a/launch/rgbd.launch
+++ b/launch/rgbd.launch
@@ -59,19 +59,19 @@
         <arg name="depth_registered_pub" default="$(arg name)" />
     </include>
 
-    <group ns="$(arg name)/rgb/image_raw">
+    <!-- group ns="$(arg name)/rgb/image_raw">
         <rosparam param="disable_pub_plugins"> 
             - 'image_transport/compressedDepth'
             - 'image_transport/theora' 
         </rosparam>
-    </group>
+    </group -->
 
-    <group ns="$(arg name)/stereo/image_raw">
+    <!-- group ns="$(arg name)/stereo/image_raw">
         <rosparam param="disable_pub_plugins"> 
             - 'image_transport/compressedDepth' 
             - 'image_transport/theora' 
         </rosparam>
-    </group>
+    </group -->
 
     <include file="$(dirname)/rgbd_mapping.launch" unless="$(arg no_mapping)">
         <arg name="name" value="$(arg name)" />