diff --git a/launch/include/3d_nav_camera.launch b/launch/include/3d_nav_camera.launch
index a46f55c0f022e575bf84f64e29ce26960341913f..d22f4082673451f5252ceb61ca91a8f34ec7c73d 100644
--- a/launch/include/3d_nav_camera.launch
+++ b/launch/include/3d_nav_camera.launch
@@ -2,69 +2,66 @@
 <!-- -->
 <launch>
   
-  <arg name="ns" default="ana" />
-  <arg name="output" default="log"/>
-  <arg name="launch_prefix" default=""/>
-  <arg name="use_nodelets" default="true"/>
+  <arg name="ns"             default="ana" />
+  <arg name="output"         default="log"/>
+  <arg name="launch_prefix"  default=""/>
+  <arg name="use_nodelets"   default="true"/>
 
   <arg name="obstacle_nodelet_manager" default="obstacle_nodelet_manager" />
-  <arg name="hole_nodelet_manager" default="hole_nodelet_manager" />
+  <arg name="hole_nodelet_manager"     default="hole_nodelet_manager" />
 
-  <arg name="camera_cloud_in" default="sensors/nav_cam/depth_registered/points"/>
-  <arg name="average_node_name" default="average_point_cloud"/>
+  <arg name="camera_cloud_in"     default="sensors/nav_cam/depth_registered/points"/>
+  <arg name="average_node_name"   default="average_point_cloud"/>
   <arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
-  <arg name="average_cloud_in" default="sensors/nav_cam/depth_registered/points_throttle"/>
 
-  <arg name="normals_node_name" default="obstacle_detection_normals"/>
+  <arg name="normals_node_name"   default="obstacle_detection_normals"/>
   <arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
 
-  <arg name="near_hole_detection_node_name" default="near_hole_detection"/>
+  <arg name="near_hole_detection_node_name"   default="near_hole_detection"/>
   <arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
-  <arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
+  <arg name="hole_detection_cloud_in"         default="radius_outlier_removal/output"/>
 
-  <arg name="far_hole_detection_node_name" default="far_hole_detection"/>
+  <arg name="far_hole_detection_node_name"   default="far_hole_detection"/>
   <arg name="far_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
   
-  <arg name="base_frame_id"                      default="$(arg ns)/base_footprint"/>
+  <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
 
   <group if="$(arg use_nodelets)">
     <include file="$(find iri_rosnav)/launch/include/camera_nodelets.launch">
-      <arg name="ns" value="$(arg ns)"/>
+      <arg name="ns"                       value="$(arg ns)"/>
       <arg name="obstacle_nodelet_manager" value="$(arg obstacle_nodelet_manager)" />
-      <arg name="hole_nodelet_manager" value="$(arg hole_nodelet_manager)" />
-      <arg name="camera_cloud_in" value="$(arg camera_cloud_in)"/>
-      <arg name="average_node_name" value="$(arg average_node_name)"/>
-      <arg name="average_config_file" value="$(arg average_config_file)"/>
-      <arg name="average_cloud_in" value="$(arg average_cloud_in)"/>
-      <arg name="normals_node_name" value="$(arg normals_node_name)"/>
-      <arg name="normals_config_file" value="$(arg normals_config_file)"/>
-      <arg name="near_hole_detection_node_name" value="$(arg near_hole_detection_node_name)"/>
+      <arg name="hole_nodelet_manager"     value="$(arg hole_nodelet_manager)" />
+      <arg name="camera_cloud_in"          value="$(arg camera_cloud_in)"/>
+      <arg name="average_node_name"        value="$(arg average_node_name)"/>
+      <arg name="average_config_file"      value="$(arg average_config_file)"/>
+      <arg name="normals_node_name"        value="$(arg normals_node_name)"/>
+      <arg name="normals_config_file"      value="$(arg normals_config_file)"/>
+      <arg name="near_hole_detection_node_name"   value="$(arg near_hole_detection_node_name)"/>
       <arg name="near_hole_detection_config_file" value="$(arg near_hole_detection_config_file)"/>
-      <arg name="hole_detection_cloud_in" value="$(arg hole_detection_cloud_in)"/>
-      <arg name="far_hole_detection_node_name" value="$(arg far_hole_detection_node_name)"/>
-      <arg name="far_hole_detection_config_file" value="$(arg far_hole_detection_config_file)"/>
-      <arg name="base_frame_id"                  value="$(arg base_frame_id)"/>
-      <arg name="output" value="$(arg output)"/>
+      <arg name="hole_detection_cloud_in"         value="$(arg hole_detection_cloud_in)"/>
+      <arg name="far_hole_detection_node_name"    value="$(arg far_hole_detection_node_name)"/>
+      <arg name="far_hole_detection_config_file"  value="$(arg far_hole_detection_config_file)"/>
+      <arg name="base_frame_id"                   value="$(arg base_frame_id)"/>
+      <arg name="output"        value="$(arg output)"/>
       <arg name="launch_prefix" value="$(arg launch_prefix)"/>
     </include>
   </group>
 
   <group unless="$(arg use_nodelets)">
     <include file="$(find iri_rosnav)/launch/include/camera_nodes.launch">
-      <arg name="ns" value="$(arg ns)"/>
-      <arg name="camera_cloud_in" value="$(arg camera_cloud_in)"/>
-      <arg name="average_node_name" value="$(arg average_node_name)"/>
+      <arg name="ns"                  value="$(arg ns)"/>
+      <arg name="camera_cloud_in"     value="$(arg camera_cloud_in)"/>
+      <arg name="average_node_name"   value="$(arg average_node_name)"/>
       <arg name="average_config_file" value="$(arg average_config_file)"/>
-      <arg name="average_cloud_in" value="$(arg average_cloud_in)"/>
-      <arg name="normals_node_name" value="$(arg normals_node_name)"/>
+      <arg name="normals_node_name"   value="$(arg normals_node_name)"/>
       <arg name="normals_config_file" value="$(arg normals_config_file)"/>
-      <arg name="near_hole_detection_node_name" value="$(arg near_hole_detection_node_name)"/>
+      <arg name="near_hole_detection_node_name"   value="$(arg near_hole_detection_node_name)"/>
       <arg name="near_hole_detection_config_file" value="$(arg near_hole_detection_config_file)"/>
-      <arg name="hole_detection_cloud_in" value="$(arg hole_detection_cloud_in)"/>
-      <arg name="far_hole_detection_node_name" value="$(arg far_hole_detection_node_name)"/>
-      <arg name="far_hole_detection_config_file" value="$(arg far_hole_detection_config_file)"/>
-      <arg name="base_frame_id"                  value="$(arg base_frame_id)"/>
-      <arg name="output" value="$(arg output)"/>
+      <arg name="hole_detection_cloud_in"         value="$(arg hole_detection_cloud_in)"/>
+      <arg name="far_hole_detection_node_name"    value="$(arg far_hole_detection_node_name)"/>
+      <arg name="far_hole_detection_config_file"  value="$(arg far_hole_detection_config_file)"/>
+      <arg name="base_frame_id"                   value="$(arg base_frame_id)"/>
+      <arg name="output"        value="$(arg output)"/>
       <arg name="launch_prefix" value="$(arg launch_prefix)"/>
     </include>
   </group>
diff --git a/launch/include/3d_nav_lidar.launch b/launch/include/3d_nav_lidar.launch
index 742cb510d5ff10b78bf8fe44fa08b9985eca95d7..4813621e0fc78bd846950a0d59d8bcfc3fbdc97e 100644
--- a/launch/include/3d_nav_lidar.launch
+++ b/launch/include/3d_nav_lidar.launch
@@ -2,43 +2,43 @@
 <!-- -->
 <launch>
   
-  <arg name="ns" default="ana" />
-  <arg name="output" default="log"/>
-  <arg name="launch_prefix" default=""/>
-  <arg name="use_nodelets" default="true"/>
+  <arg name="ns"             default="ana" />
+  <arg name="output"         default="log"/>
+  <arg name="launch_prefix"  default=""/>
+  <arg name="use_nodelets"   default="true"/>
 
   <arg name="lidar_nodelet_manager" default="lidar_nodelet_manager"/>
 
-  <arg name="lidar_filter_node_name" default="lidar_filter"/>
+  <arg name="lidar_filter_node_name"   default="lidar_filter"/>
   <arg name="lidar_filter_config_file" default="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
-  <arg name="lidar_filter_cloud_in" default="/$(arg ns)/sensors/velodyne_points" />
+  <arg name="lidar_filter_cloud_in"    default="/$(arg ns)/sensors/velodyne_points" />
 
-  <arg name="lidar_detector_node_name" default="lidar_detector"/>
+  <arg name="lidar_detector_node_name"   default="lidar_detector"/>
   <arg name="lidar_detector_config_file" default="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
 
   <group if="$(arg use_nodelets)">
     <include file="$(find iri_rosnav)/launch/include/lidar_nodelets.launch">
-      <arg name="ns" value="$(arg ns)"/>
-      <arg name="output" value="$(arg output)"/>
+      <arg name="ns"            value="$(arg ns)"/>
+      <arg name="output"        value="$(arg output)"/>
       <arg name="launch_prefix" value="$(arg launch_prefix)"/>
-      <arg name="lidar_nodelet_manager" value="$(arg lidar_nodelet_manager)"/>
-      <arg name="lidar_filter_node_name" value="$(arg lidar_filter_node_name)"/>
-      <arg name="lidar_filter_config_file" value="$(arg lidar_filter_config_file)"/>
-      <arg name="lidar_filter_cloud_in" value="$(arg lidar_filter_cloud_in)" />
-      <arg name="lidar_detector_node_name" value="$(arg lidar_detector_node_name)"/>
+      <arg name="lidar_nodelet_manager"      value="$(arg lidar_nodelet_manager)"/>
+      <arg name="lidar_filter_node_name"     value="$(arg lidar_filter_node_name)"/>
+      <arg name="lidar_filter_config_file"   value="$(arg lidar_filter_config_file)"/>
+      <arg name="lidar_filter_cloud_in"      value="$(arg lidar_filter_cloud_in)" />
+      <arg name="lidar_detector_node_name"   value="$(arg lidar_detector_node_name)"/>
       <arg name="lidar_detector_config_file" value="$(arg lidar_detector_config_file)"/>
     </include>
   </group>
 
   <group unless="$(arg use_nodelets)">
     <include file="$(find iri_rosnav)/launch/include/lidar_nodes.launch">
-      <arg name="ns" value="$(arg ns)"/>
-      <arg name="output" value="$(arg output)"/>
+      <arg name="ns"            value="$(arg ns)"/>
+      <arg name="output"        value="$(arg output)"/>
       <arg name="launch_prefix" value="$(arg launch_prefix)"/>
-      <arg name="lidar_filter_node_name" value="$(arg lidar_filter_node_name)"/>
-      <arg name="lidar_filter_config_file" value="$(arg lidar_filter_config_file)"/>
-      <arg name="lidar_filter_cloud_in" value="$(arg lidar_filter_cloud_in)" />
-      <arg name="lidar_detector_node_name" value="$(arg lidar_detector_node_name)"/>
+      <arg name="lidar_filter_node_name"     value="$(arg lidar_filter_node_name)"/>
+      <arg name="lidar_filter_config_file"   value="$(arg lidar_filter_config_file)"/>
+      <arg name="lidar_filter_cloud_in"      value="$(arg lidar_filter_cloud_in)" />
+      <arg name="lidar_detector_node_name"   value="$(arg lidar_detector_node_name)"/>
       <arg name="lidar_detector_config_file" value="$(arg lidar_detector_config_file)"/>
     </include>
   </group>
diff --git a/launch/include/camera_nodelets.launch b/launch/include/camera_nodelets.launch
index 0e121bbdd25c1f50594c77060510d65aac8f1921..5971e20e182a8cb46558e68dcc5cfb69e9eecc65 100644
--- a/launch/include/camera_nodelets.launch
+++ b/launch/include/camera_nodelets.launch
@@ -2,7 +2,7 @@
 
 <launch>
 
-  <arg name="ns"       default="ana"/>
+  <arg name="ns"       default="robot"/>
   <arg name="ns2"      default="nav3d/camera"/>
   <arg name="ns_nav3d" default="$(arg ns)/$(arg ns2)"/>
 
@@ -12,7 +12,6 @@
 
   <arg name="average_node_name"   default="average_point_cloud"/>
   <arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
-  <arg name="average_cloud_in"    default="sensors/nav_cam/depth_registered/points_throttle"/>
 
   <arg name="normals_node_name"   default="obstacle_detection_normals"/>
   <arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
@@ -53,7 +52,7 @@
     <arg name="node_name" value="$(arg average_node_name)"/>
     <arg name="camera_nodelet_manager" value="$(arg obstacle_nodelet_manager)"/>
     <arg name="config_file"   value="$(arg average_config_file)"/>
-    <arg name="cloud_in"      value="$(arg average_cloud_in)"/>
+    <arg name="cloud_in"      value="$(arg camera_cloud_in)_throttle"/>
     <arg name="output"        value="$(arg output)"/>
     <arg name="launch_prefix" value="$(arg launch_prefix)"/>
   </include>
@@ -141,23 +140,23 @@
   </group>
 
   <include file="$(find iri_point_cloud_hole_detection)/launch/nodelet.launch">
-         <arg name="ns" value="$(arg ns_nav3d)"/>
-         <arg name="node_name" value="$(arg near_hole_detection_node_name)"/>
+         <arg name="ns"                     value="$(arg ns_nav3d)"/>
+         <arg name="node_name"              value="$(arg near_hole_detection_node_name)"/>
          <arg name="camera_nodelet_manager" value="$(arg hole_nodelet_manager)"/>
-         <arg name="config_file" value="$(arg near_hole_detection_config_file)"/>
-         <arg name="output" value="$(arg output)"/>
-         <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-         <arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
+         <arg name="config_file"            value="$(arg near_hole_detection_config_file)"/>
+         <arg name="cloud_in"               value="$(arg hole_detection_cloud_in)"/>
+         <arg name="output"                 value="$(arg output)"/>
+         <arg name="launch_prefix"          value="$(arg launch_prefix)"/>
   </include>
 
   <include file="$(find iri_point_cloud_hole_detection)/launch/nodelet.launch">
-         <arg name="ns" value="$(arg ns_nav3d)"/>
-         <arg name="node_name" value="$(arg far_hole_detection_node_name)"/>
+         <arg name="ns"                     value="$(arg ns_nav3d)"/>
+         <arg name="node_name"              value="$(arg far_hole_detection_node_name)"/>
          <arg name="camera_nodelet_manager" value="$(arg hole_nodelet_manager)"/>
-         <arg name="config_file" value="$(arg far_hole_detection_config_file)"/>
-         <arg name="output" value="$(arg output)"/>
-         <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-         <arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
+         <arg name="config_file"            value="$(arg far_hole_detection_config_file)"/>
+         <arg name="cloud_in"               value="$(arg hole_detection_cloud_in)"/>
+         <arg name="output"                 value="$(arg output)"/>
+         <arg name="launch_prefix"          value="$(arg launch_prefix)"/>
   </include>
 
 </launch>
diff --git a/launch/include/camera_nodes.launch b/launch/include/camera_nodes.launch
index 1195d02320ddd4806b6ee7e9618593f6155cc759..3676b102b3702d5da0aa84d4c003748758e1e628 100644
--- a/launch/include/camera_nodes.launch
+++ b/launch/include/camera_nodes.launch
@@ -2,32 +2,31 @@
 
 <launch>
 
-  <arg name="ns" default="ana"/>
-  <arg name="ns2" default="nav3d/camera"/>
+  <arg name="ns"       default="ana"/>
+  <arg name="ns2"      default="nav3d/camera"/>
   <arg name="ns_nav3d" default="$(arg ns)/$(arg ns2)"/>
 
   <arg name="obstacle_nodelet_manager" default="obstacle_nodelet_manager" />
 
   <arg name="camera_cloud_in" default="sensors/nav_cam/depth_registered/points"/>
 
-  <arg name="average_node_name" default="average_point_cloud"/>
+  <arg name="average_node_name"   default="average_point_cloud"/>
   <arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
-  <arg name="average_cloud_in" default="sensors/nav_cam/depth_registered/points_throttle"/>
 
-  <arg name="normals_node_name" default="obstacle_detection_normals"/>
+  <arg name="normals_node_name"   default="obstacle_detection_normals"/>
   <arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
-  <arg name="normals_cloud_in" default="radius_outlier_removal/output"/>
+  <arg name="normals_cloud_in"    default="radius_outlier_removal/output"/>
 
-  <arg name="near_hole_detection_node_name" default="near_hole_detection"/>
+  <arg name="near_hole_detection_node_name"   default="near_hole_detection"/>
   <arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
-  <arg name="hole_detection_cloud_in" default="radius_outlier_removal/output"/>
+  <arg name="hole_detection_cloud_in"         default="radius_outlier_removal/output"/>
 
-  <arg name="far_hole_detection_node_name" default="far_hole_detection"/>
+  <arg name="far_hole_detection_node_name"   default="far_hole_detection"/>
   <arg name="far_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/far_config.yaml"/>
   
-  <arg name="base_frame_id"                      default="$(arg ns)/base_footprint"/>
+  <arg name="base_frame_id"  default="$(arg ns)/base_footprint"/>
 
-  <arg name="output" default="screen"/>
+  <arg name="output"        default="screen"/>
   <arg name="launch_prefix" default=""/>
 
 <!-- *******************  OBSTACLE DETECTION  **********************************  -->
@@ -40,12 +39,12 @@
   </group>
 
   <include file="$(find iri_average_point_cloud)/launch/node.launch">
-    <arg name="ns" value="$(arg ns_nav3d)"/>
-    <arg name="node_name" value="$(arg average_node_name)"/>
-    <arg name="config_file" value="$(arg average_config_file)"/>
-    <arg name="output" value="$(arg output)"/>
-    <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-    <arg name="cloud_in" default="$(arg average_cloud_in)"/>
+    <arg name="ns"            value="$(arg ns_nav3d)"/>
+    <arg name="node_name"     value="$(arg average_node_name)"/>
+    <arg name="config_file"   value="$(arg average_config_file)"/>
+    <arg name="cloud_in"      value="$(arg camera_cloud_in)_throttle"/>
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
   </include>
 
   <group ns="$(arg ns_nav3d)">
@@ -118,32 +117,32 @@
   </group>
 
   <include file="$(find iri_obstacle_detection_normals)/launch/node.launch">
-    <arg name="ns" value="$(arg ns_nav3d)"/>
-    <arg name="node_name" value="$(arg normals_node_name)"/>
-    <arg name="config_file" value="$(arg normals_config_file)"/>
-    <arg name="output" value="$(arg output)"/>
-    <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-    <arg name="cloud_in" default="$(arg normals_cloud_in)"/>
+    <arg name="ns"            value="$(arg ns_nav3d)"/>
+    <arg name="node_name"     value="$(arg normals_node_name)"/>
+    <arg name="config_file"   value="$(arg normals_config_file)"/>
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
+    <arg name="cloud_in"      value="$(arg normals_cloud_in)"/>
   </include>
 
 <!-- **************************** HOLE DETECTION ******************************* -->
 
   <include file="$(find iri_point_cloud_hole_detection)/launch/node.launch">
-    <arg name="ns" value="$(arg ns_nav3d)"/>
-    <arg name="node_name" value="$(arg near_hole_detection_node_name)"/>
-    <arg name="config_file" value="$(arg near_hole_detection_config_file)"/>
-    <arg name="output" value="$(arg output)"/>
-    <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-    <arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
+    <arg name="ns"            value="$(arg ns_nav3d)"/>
+    <arg name="node_name"     value="$(arg near_hole_detection_node_name)"/>
+    <arg name="config_file"   value="$(arg near_hole_detection_config_file)"/>
+    <arg name="cloud_in"      value="$(arg hole_detection_cloud_in)"/>
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
   </include>
 
   <include file="$(find iri_point_cloud_hole_detection)/launch/node.launch">
-    <arg name="ns" value="$(arg ns_nav3d)"/>
-    <arg name="node_name" value="$(arg far_hole_detection_node_name)"/>
-    <arg name="config_file" value="$(arg far_hole_detection_config_file)"/>
-    <arg name="output" value="$(arg output)"/>
-    <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-    <arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
+    <arg name="ns"            value="$(arg ns_nav3d)"/>
+    <arg name="node_name"     value="$(arg far_hole_detection_node_name)"/>
+    <arg name="config_file"   value="$(arg far_hole_detection_config_file)"/>
+    <arg name="cloud_in"      value="$(arg hole_detection_cloud_in)"/>
+    <arg name="output"        value="$(arg output)"/>
+    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
   </include>
 
 </launch>