diff --git a/config/lidar_angle_filter_config.yaml b/config/lidar_angle_filter_config.yaml
index d7af1484d2e8ff10aa0f4108b0b0659f50d74206..99147047bed3d60aca3e61333c670801f61c41fe 100644
--- a/config/lidar_angle_filter_config.yaml
+++ b/config/lidar_angle_filter_config.yaml
@@ -1 +1,3 @@
 n_pairs: 0
+ranges:
+  - range1
diff --git a/launch/3d_nav_map.launch b/launch/3d_nav_map.launch
index 25a2240560de0e73c916272b04bfd667149bee43..b552dba1f34cb7840cac7537cdb9f41b5e60987d 100644
--- a/launch/3d_nav_map.launch
+++ b/launch/3d_nav_map.launch
@@ -5,6 +5,7 @@
   <arg name="name"                    default="ana"/>
 
   <arg name="use_3d_nav_nodelets"     default="true"/>
+  <arg name="nav_camera"              default="nav_cam"/>
 
   <arg name="path"                    default="$(find iri_ana_rosnav)/params"/>
   <arg name="move_base_params"        default="move_base_params.yaml"/>
@@ -30,6 +31,7 @@
     <arg name="output"        value="$(arg output)"/>
     <arg name="launch_prefix" value="$(arg launch_prefix)"/>
     <arg name="use_nodelets"  value="$(arg use_3d_nav_nodelets)"/>
+    <arg name="nav_camera"    value="$(arg nav_camera)"/>
   </include>
 
   <include file="$(find iri_ana_rosnav)/launch/nav_map.launch">
diff --git a/launch/3d_nav_nomap.launch b/launch/3d_nav_nomap.launch
index 685c0b22a53ab7f0adcd62e25282d5322eeff855..963c57ae8c8551c5670baf2bf9a9ff1c1b3f16d6 100644
--- a/launch/3d_nav_nomap.launch
+++ b/launch/3d_nav_nomap.launch
@@ -5,6 +5,7 @@
   <arg name="name"                    default="ana"/>
 
   <arg name="use_3d_nav_nodelets"     default="true"/>
+  <arg name="nav_camera"              default="nav_cam_top"/>
 
   <arg name="path"                    default="$(find iri_ana_rosnav)/params"/>
   <arg name="move_base_params"        default="move_base_params.yaml"/>
@@ -30,6 +31,7 @@
     <arg name="output"        value="$(arg output)"/>
     <arg name="launch_prefix" value="$(arg launch_prefix)"/>
     <arg name="use_nodelets"  value="$(arg use_3d_nav_nodelets)"/>
+    <arg name="nav_camera"    value="$(arg nav_camera)"/>
   </include>
 
   <include file="$(find iri_ana_rosnav)/launch/nav_nomap.launch">
diff --git a/launch/include/3d_nav.launch b/launch/include/3d_nav.launch
index e2cee4cf85a5258c635b7fcb64b8ca990f2d5304..759a1d87177894fd65681edcef49d90d18f95dc9 100644
--- a/launch/include/3d_nav.launch
+++ b/launch/include/3d_nav.launch
@@ -5,6 +5,7 @@
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="use_nodelets" default="true"/>
+  <arg name="nav_camera" default="nav_cam"/>
 
   <include file="$(find iri_rosnav)/launch/include/3d_nav_lidar.launch">
     <arg name="ns" value="ana"/>
@@ -26,7 +27,7 @@
     <arg name="use_nodelets" value="$(arg use_nodelets)"/>
     <arg name="obstacle_nodelet_manager" value="obstacle_nodelet_manager" />
     <arg name="hole_nodelet_manager" value="hole_nodelet_manager" />
-    <arg name="camera_cloud_in" value="sensors/nav_cam/depth_registered/points"/>
+    <arg name="camera_cloud_in" value="sensors/$(arg nav_camera)/depth_registered/points"/>
     <arg name="average_node_name" value="average_point_cloud"/>
     <arg name="average_config_file" value="$(find iri_ana_rosnav)/config/camera_average_filter_config.yaml"/>
     <arg name="normals_node_name" value="obstacle_detection_normals"/>