diff --git a/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml b/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml
index 7a08a4439..9d1ff2725 100644
--- a/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml
+++ b/sr_multi_moveit/sr_box_ur10_moveit_config/launch/sensor_manager.launch.xml
@@ -1,6 +1,6 @@
 <launch>
   <!-- 'octomap_data_type' options are 'pointcloud' or 'depthmap' -->
-  <arg name="octomap_data_type" default="none"/>
+  <arg name="octomap_data_type" default="depthmap"/>
 
   <!-- This file makes it easy to include the settings for sensor managers -->  
 
diff --git a/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml b/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml
index d9b3eaf87..a4c9a65ec 100644
--- a/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml
+++ b/sr_multi_moveit/sr_multi_moveit_config/config/sensors_rgbd_depth.yaml
@@ -1,12 +1,13 @@
 sensors:
   - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
-    image_topic: /camera/depth_registered/image_raw
+    # image_topic: /camera/depth_registered/image_raw
+    image_topic: /camera/depth/image_rect_raw
     queue_size: 5
     near_clipping_plane_distance: 0.3
     far_clipping_plane_distance: 5.0
     shadow_threshold: 0.2
-    padding_scale: 1.0
-    padding_offset: 0.00
+    padding_scale: 3.0
+    padding_offset: 0.12
     max_update_rate: 1.0
     filtered_cloud_topic: filtered_cloud
 
diff --git a/sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml b/sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml
index 99a9abc1d..b9b466f79 100644
--- a/sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml
+++ b/sr_multi_moveit/sr_multi_moveit_config/launch/sensor_manager.launch.xml
@@ -1,6 +1,6 @@
 <launch>
   <!-- 'octomap_data_type' options are 'pointcloud' or 'depthmap' -->
-  <arg name="octomap_data_type" default="pointcloud"/>
+  <arg name="octomap_data_type" default="depthmap"/>
 
   <!-- This file makes it easy to include the settings for sensor managers -->  
 
diff --git a/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
index c1caa73b7..f5becdc08 100644
--- a/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
+++ b/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
@@ -14,11 +14,11 @@ ra_sr_ur_robot_hw:
   
   # for sending robot programs
   # aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP
-  robot_ip: 10.8.1.1
+  robot_ip: 192.168.1.1
   
   # for the server that moves the robot
   # aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP
-  control_pc_ip_address: 10.8.1.100
+  control_pc_ip_address: 192.168.1.100
   
   input_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_input_recipe.txt
   
diff --git a/sr_robot_launch/config/right_ur_arm_robot_hw.yaml b/sr_robot_launch/config/right_ur_arm_robot_hw.yaml
index dd79fe2f4..246385863 100644
--- a/sr_robot_launch/config/right_ur_arm_robot_hw.yaml
+++ b/sr_robot_launch/config/right_ur_arm_robot_hw.yaml
@@ -14,11 +14,11 @@ ra_sr_ur_robot_hw:
   
   # for sending robot programs
   # aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP
-  robot_ip: 10.8.1.1
+  robot_ip: 192.168.1.1
   
   # for the server that moves the robot
   # aurora (https://github.com/shadow-robot/aurora) uses sed to replace this IP with the user-defined IP
-  control_pc_ip_address: 10.8.1.100
+  control_pc_ip_address: 192.168.1.100
   
   input_recipe_file: /home/user/projects/shadow_robot/base/src/Universal_Robots_ROS_Driver/ur_robot_driver/resources/rtde_input_recipe.txt