diff --git a/software/rover/nimbro_topic_transport/launch/camera_topics.yaml b/software/rover/nimbro_topic_transport/launch/camera_topics.yaml
index 67607f4..0395432 100644
--- a/software/rover/nimbro_topic_transport/launch/camera_topics.yaml
+++ b/software/rover/nimbro_topic_transport/launch/camera_topics.yaml
@@ -1,4 +1,4 @@
 topics:
- - name: "/usb_cam/image_raw"
-   compress: true # enable bz2 compression
-   rate: 30.0 # rate limit at 1Hz
+ - name: "/cameras/camera_undercarriage/image_1280x720/compressed"
+   compress: false # enable bz2 compression
+   rate: 30.0 # rate limit at 1Hz
\ No newline at end of file
diff --git a/software/rover/nimbro_topic_transport/launch/camera_topics2.yaml b/software/rover/nimbro_topic_transport/launch/camera_topics2.yaml
new file mode 100644
index 0000000..411d4b3
--- /dev/null
+++ b/software/rover/nimbro_topic_transport/launch/camera_topics2.yaml
@@ -0,0 +1,10 @@
+topics:
+ - name: "/cameras/camera_chassis/image_640x360/compressed"
+   compress: false # enable bz2 compression
+   rate: 30.0 # rate limit at 1Hz
+ - name: "/cameras/camera_undercarriage/image_640x360/compressed"
+   compress: false # enable bz2 compression
+   rate: 30.0 # rate limit at 1Hz
+ - name: "/cameras/main_navigation/image_640x360/compressed"
+   compress: false # enable bz2 compression
+   rate: 30.0 # rate limit at 1Hz
\ No newline at end of file
diff --git a/software/rover/nimbro_topic_transport/launch/camera_topics3.yaml b/software/rover/nimbro_topic_transport/launch/camera_topics3.yaml
new file mode 100644
index 0000000..d89f216
--- /dev/null
+++ b/software/rover/nimbro_topic_transport/launch/camera_topics3.yaml
@@ -0,0 +1,4 @@
+topics:
+ - name: "/cameras/main_navigation/image_1280x720/compressed"
+   compress: false # enable bz2 compression
+   rate: 30.0 # rate limit at 1Hz
\ No newline at end of file