diff --git a/lunabot_bringup/launch/slam_record.launch b/lunabot_bringup/launch/slam_record.launch
new file mode 100644
index 00000000..ad8135ee
--- /dev/null
+++ b/lunabot_bringup/launch/slam_record.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Group without delay -->
+  <group>
+    <!-- Run lunabot_bringup -->
+    <include file="$(find lunabot_bringup)/launch/overhead.launch"/>
+
+    <!-- Run lunabot_perception -->
+    <include file="$(find lunabot_perception)/launch/cameras.launch"/>
+  </group>
+
+  <!-- Rosbag record with delay -->
+  <node name="rosbag_record" pkg="rosbag" type="record" args="-o slam_gt /imu /d455_back/camera/color/image_rect_color /d455_back/camera/aligned_depth_to_color/image_raw /d455_back/camera/aligned_depth_to_color/camera_info /d455_back/camera/color/camera_info /usb_cam/tag_detections --split --duration 60" launch-prefix="bash -c 'sleep 5; $0 $@'"/>
+</launch>
diff --git a/lunabot_config/config/overhead.yml b/lunabot_config/config/overhead.yml
index b3e614a8..4b0484ed 100644
--- a/lunabot_config/config/overhead.yml
+++ b/lunabot_config/config/overhead.yml
@@ -1,7 +1,7 @@
 start_service_name: "start_capture" # Defines name suffix for std_srvs::Empty service which restarts suspended streaming
 stop_service_name: "stop_capture"   # Defines name suffix for std_srvs::Empty service which suspends camera polling timer
 
-video_device: /dev/video2          # Device driver's entrypoint
+video_device: /dev/video0          # Device driver's entrypoint
 io_method: mmap                     # I/O method
                                     # - read - for devices supporting virtual filesystem or block I/O
                                     # - mmap - for devices with direct libusb memory mapping