diff --git a/config/bno055_default_config.yaml b/config/bno055_default_config.yaml
index d8cd7ddea9d4ed31def95622bd57573778f4a0d8..4355f0c1fc3c0c27b100736bfe370c52cf243527 100644
--- a/config/bno055_default_config.yaml
+++ b/config/bno055_default_config.yaml
@@ -2,3 +2,4 @@ update_rate: 1
 serial_device: '/dev/ttyUSB1'
 tf_prefix: '/'
 frame_id: 'imu'
+mode: 12
diff --git a/launch/bno055_imu_test.launch b/launch/bno055_imu_test.launch
index 239c7b5e4f9d1d1f6cc6f1193172304446350350..b6d7743670e2bf54ca284ce3321207b6de148481 100644
--- a/launch/bno055_imu_test.launch
+++ b/launch/bno055_imu_test.launch
@@ -2,12 +2,13 @@
 <launch>
 
   <arg name="config_file" default="$(find iri_bno055_imu_bringup)/config/bno055_default_config.yaml" />
-  <arg name="calibration_file" default="$(find iri_bno055_imu_bringup)/calibration/bno055.cal" />
+<!--  <arg name="calibration_file" default="$(find iri_bno055_imu_bringup)/calibration/bno055.cal" />-->
+  <arg name="calibration_file" default="" />
   <arg name="node_name" default="bno055_imu"/>
-  <arg name="output" default="log" />
+  <arg name="output" default="screen" />
   <arg name="launch_prefix" default="" />
 
-  <remap from="/imu" to="/imu_data"/>
+  <remap from="/$(arg node_name)/imu" to="/$(arg node_name)/imu_data"/>
 
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />