diff --git a/launch/bringup.launch b/launch/bringup.launch
index 586d7ac..0f8dbd5 100644
--- a/launch/bringup.launch
+++ b/launch/bringup.launch
@@ -1,32 +1,33 @@
 <?xml version="1.0"?>
-<launch xmlns:xs="http://www.w3.org/2001/XMLSchema"
-    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-    xsi:noNamespaceSchemaLocation="https://gist.githubusercontent.com/nalt/dfa2abc9d2e3ae4feb82ca5608090387/raw/roslaunch.xsd">
+<launch
+  xmlns:xs="http://www.w3.org/2001/XMLSchema"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:noNamespaceSchemaLocation="https://gist.githubusercontent.com/nalt/dfa2abc9d2e3ae4feb82ca5608090387/raw/roslaunch.xsd">
 
-    <!-- ARGS -->
-    <arg
-        name="no_rgb" default="false" />
-    <arg name="no_rgbd" default="false" />
-    <arg name="no_robots"
-        default="false" />
-    <arg
-        name="no_record" default="false" />
+  <!-- ARGS -->
+  <arg name="no_rgb" default="false" />
+  <arg name="no_rgbd" default="false" />
+  <arg name="no_robots" default="false" />
+  <arg name="no_record" default="false" />
+  <include
+    file="$(dirname)/rgbd.launch"
+    pass_all_args="true"
+    unless="$(arg no_rgbd)" />
 
-    <!-- INCLUDES -->
-    <include file="$(dirname)/rgbd.launch"
-        pass_all_args="true" unless="$(arg no_rgbd)" />
+  <include
+    file="$(dirname)/rgb.launch"
+    pass_all_args="true"
+    unless="$(arg no_rgb)" />
 
-    <include file="$(dirname)/rgb.launch"
-        pass_all_args="true" unless="$(arg no_rgb)" />
+  <include
+    file="$(dirname)/robots.launch"
+    pass_all_args="true"
+    unless="$(arg no_robots)" />
 
-    <include
-        file="$(dirname)/robots.launch" pass_all_args="true" unless="$(arg no_robots)" />
-
-    <!-- RECORD -->
-    <node
-        name="record" pkg="rosbag" type="record"
-        args="--publish --output-prefix=$(env HOME)/rosbags/$(optenv HOSTNAME no_env_hostname) --split
-    --duration=1h --lz4 --regex '/tf(.*)'
-    '(.*)(image_raw|camera_info|image_rect)' '(.*)points(.*)' '/octomap(.*)'"
-        unless="$(arg no_record)" />
+  <node
+    name="record"
+    pkg="rosbag"
+    type="record"
+    args="--publish --output-prefix=$(env HOME)/rosbags/$(optenv HOSTNAME no_env_hostname) --split --duration=1h --lz4 --regex '/tf(.*)' '(.*)/camera_info' '(.*)/(image_raw|image_rect|filtered)/compressed' '(.*)points(.*)' '(.*)/octomap_binary"
+    unless="$(arg no_record)" />
 </launch>
diff --git a/launch/extract.launch b/launch/extract.launch
index 84f9264..ab25d35 100644
--- a/launch/extract.launch
+++ b/launch/extract.launch
@@ -6,17 +6,17 @@
 
   <node pkg="rosbag" type="play" name="rosbag" required="true" args="$(arg bag_file)" />
 
-  <node name="extract" pkg="image_view" type="extract_images" respawn="false" required="true"
+  <node pkg="image_view" type="extract_images" name="extract" required="true"
     output="screen" cwd="ROS_HOME">
     <remap from="image" to="/oak/rgb/image_raw" />
   </node>
 
-  <node name="pc2pcd" pkg="pcl_ros" type="pointcloud_to_pcd">
+  <node pkg="pcl_ros" type="pointcloud_to_pcd" name="pc2pcd">
     <remap from="input" to="/oak/points" />
     <param name="frame_id" value="world" />
     <param name="prefix" value="/home/tetov/pcds/" />
   </node>
 
-  <node name="tf_echo_camera" pkg="tf" type="tf_echo" args="oak world 1" />
+  <node pkg="tf" type="tf_echo" name="tf_echo_camera" args="oak world 1" />
 
 </launch>
diff --git a/launch/robots.launch b/launch/robots.launch
index 9dc728b..7d648fa 100644
--- a/launch/robots.launch
+++ b/launch/robots.launch
@@ -9,9 +9,8 @@
     <arg name="robot_state_port" default="30201" doc="Port of the state interface" />
     <arg name="sequence_check_mode" default="none"
         doc="Define sequence ID check mode. Supported: none|all|incoming|outgoing" />
-    <arg name="namespace" default="/"
-        doc="Allows to define a namespace in order to connect to multiple robots.
-    Defaults to root (ie /)." />
+    <arg name="namespace" default="rob1"
+    doc="Allows to define a namespace in order to connect to multiple robots." />
 
     <arg name="no_rws" default="false" />
     <arg name="no_rrc" default="false" />
@@ -49,7 +48,7 @@
 
             <node pkg="robot_state_publisher" type="robot_state_publisher"
                 name="rob_st_pub">
-                <remap from="joint_states" to="/rws/joint_states" />
+                <remap from="joint_states" to="rws/joint_states" />
             </node>
         </group>