diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml
index 278dd6c..c92437d 100644
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -1,6 +1,6 @@
 bt_sim:
   gui: True
-  cam_noise: True
+  cam_noise: False
   scene: test1.yaml
 
 grasp_controller:
@@ -12,7 +12,7 @@ grasp_controller:
   camera:
     frame_id: camera_depth_optical_frame
     info_topic: /camera/depth/camera_info
-    depth_topic: /camera/depth/image_raw
+    depth_topic: /camera/depth/image_rect_raw
     min_z_dist: 0.3
     
 vgn:
diff --git a/scripts/bt_sim_node.py b/scripts/bt_sim_node.py
index 062fd66..bdb2e8c 100755
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -297,7 +297,7 @@ class CameraPlugin(Plugin):
     def init_publishers(self):
         topic = self.name + "/depth/camera_info"
         self.info_pub = rospy.Publisher(topic, CameraInfo, queue_size=10)
-        topic = self.name + "/depth/image_raw"
+        topic = self.name + "/depth/image_rect_raw"
         self.depth_pub = rospy.Publisher(topic, Image, queue_size=10)
 
     def update(self):