diff --git a/launch/demo_vo_aprilag.launch b/launch/demo_vo_aprilag.launch
index 7324cdd7725c2a7c511a704bc3ad595c10f558ac..e465cf962ab1191de9ef927952fe92df70771613 100644
--- a/launch/demo_vo_aprilag.launch
+++ b/launch/demo_vo_aprilag.launch
@@ -1,13 +1,13 @@
 <!-- -->
 <launch>
     <!--USER ARGS-->
-    <arg name="rviz" default="true" />
+    <arg name="rviz" default="false" />
     <arg name="speed" default="1" />
     <arg name="sec" default="0" />
     <arg name="sim_time" default="true" />
 
     <arg name="profiling" default="false" />
-    <arg name="gdb" default="true" />
+    <arg name="gdb" default="false" />
     <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
     <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
     <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
diff --git a/yaml/demo_vo_apriltag_d435i.yaml b/yaml/demo_vo_apriltag_d435i.yaml
index 44eeea7b2a43bd13c86cab33975b46b655d88ae0..d494662a02fe5fd5b4442c6bb5d62e763874651f 100644
--- a/yaml/demo_vo_apriltag_d435i.yaml
+++ b/yaml/demo_vo_apriltag_d435i.yaml
@@ -86,18 +86,19 @@ config:
     #   base_frame_id: "base_footprint"
     #   publish_odom_tf: true
 
+    # -
+    #   type: "PublisherVisionDebug"
+    #   processor_name: "VISUALODOMETRY PROC"
+    #   topic: "/image_vo_tracks"
+    #   topic_preprocessor: "/image_vo_tracks_preprocessor"
+    #   package: "wolf_ros_vision"
+    #   period: 100
+    #   follow: "publisher_vision_debug.yaml"
+
     -
       type: "PublisherApriltagDebug"
       processor_name: "APRILTAG PROC"
       topic: "apriltag_detections"
       package: "wolf_ros_apriltag"
-      period: 0.1
+      period: 100
 
-    -
-      type: "PublisherVisionDebug"
-      processor_name: "VISUALODOMETRY PROC"
-      topic: "/image_vo_tracks"
-      topic_preprocessor: "/image_vo_tracks_preprocessor"
-      package: "wolf_ros_vision"
-      period: 0.05
-      follow: "publisher_vision_debug.yaml"
\ No newline at end of file