diff --git a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
index cd5acf5..0ee440a 100644
--- a/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
+++ b/software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
@@ -16,13 +16,13 @@ import RoverVideoReceiver
 CAMERA_TOPIC_PATH = "/cameras/"
 EXCLUDED_CAMERAS = ["zed"]
 #
-PRIMARY_LABEL_MAX = (640, 360)
-SECONDARY_LABEL_MAX = (256, 144)
-TERTIARY_LABEL_MAX = (256, 144)
+# PRIMARY_LABEL_MAX = (640, 360)
+# SECONDARY_LABEL_MAX = (256, 144)
+# TERTIARY_LABEL_MAX = (256, 144)
 
-# PRIMARY_LABEL_MAX = (1280, 720)
-# SECONDARY_LABEL_MAX = (640, 360)
-# TERTIARY_LABEL_MAX = (640, 360)
+PRIMARY_LABEL_MAX = (1280, 720)
+SECONDARY_LABEL_MAX = (640, 360)
+TERTIARY_LABEL_MAX = (640, 360)
 
 
 #####################################
diff --git a/software/ros_packages/nimbro_topic_transport/launch/topics.yaml b/software/ros_packages/nimbro_topic_transport/launch/topics.yaml
deleted file mode 100644
index f2244da..0000000
--- a/software/ros_packages/nimbro_topic_transport/launch/topics.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-topics:
- - name: "/drive/motoroneandtwo"
-   compress: true # enable bz2 compression
-   rate: 20.0 # rate limit at 1Hz
- - name: "/my_second_topic"
diff --git a/software/ros_packages/rover_camera/src/rover_camera.cpp b/software/ros_packages/rover_camera/src/rover_camera.cpp
index 244451c..625c4c4 100644
--- a/software/ros_packages/rover_camera/src/rover_camera.cpp
+++ b/software/ros_packages/rover_camera/src/rover_camera.cpp
@@ -33,9 +33,9 @@ public:
         node_handle->param("small_image_width", small_image_width, 256);
         node_handle->param("small_image_height", small_image_height, 144);
 
-        broadcast_large_image = true;
+        broadcast_large_image = false;
         broadcast_medium_image = false;
-        broadcast_small_image = false;
+        broadcast_small_image = true;
 
         if(is_rtsp_camera){
             cap = new cv::VideoCapture(capture_device_path);
diff --git a/software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py b/software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
index 3d37fbb..51b482f 100755
--- a/software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
+++ b/software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
@@ -58,7 +58,6 @@ class DriveCoordinator(object):
         self.left_bogie_publisher = rospy.Publisher(self.left_bogie_topic, DriveControlMessage, queue_size=1)
         self.right_bogie_publisher = rospy.Publisher(self.right_bogie_topic, DriveControlMessage, queue_size=1)
 
-        # Other Vars TODO: fix this later
         self.drive_command_data = {
             "iris": {
                 "message": DriveCommandMessage(),
diff --git a/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch b/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
index 12af19c..33af17e 100644
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
@@ -1,36 +1,51 @@
 <launch>
     <group ns="cameras">
-        <node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17001" />
         </node>
 
-        <node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17002" />
         </node>
 
-        <node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17003" />
         </node>
 
-        <node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17004" />
         </node>
 
-        <node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17005" />
         </node>
 
-        <node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17006" />
         </node>
 
-        <node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17007" />
         </node>
 
-        <node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17008" />
         </node>
 
+        <node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+            <param name="port" value="17009" />
+        </node>
+
+        <node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+            <param name="port" value="17010" />
+        </node>
+
+        <node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+            <param name="port" value="17011" />
+        </node>
+
+        <node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+            <param name="port" value="17012" />
+        </node>
     </group>
 </launch>
diff --git a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
index e38efc7..2cb104d 100644
--- a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
@@ -2,9 +2,41 @@
     <group ns="sender_transports">
         <arg name="target" default="192.168.1.15" />
 
-        <node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+        <node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
             <param name="destination_port" value="17001" />
+            <rosparam param="topics">
+                [{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 30.0}]
+            </rosparam>
+        </node>
+
+        <node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17002" />
+            <rosparam param="topics">
+                [{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 30.0}]
+            </rosparam>
+        </node>
+
+        <node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17003" />
+            <rosparam param="topics">
+                [{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 30.0}]
+            </rosparam>
+        </node>
+
+        <node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17004" />
+            <rosparam param="topics">
+                [{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 30.0}]
+            </rosparam>
+        </node>
+
+        <node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17005" />
             <rosparam param="topics">
                 [{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 30.0}]
             </rosparam>
@@ -12,7 +44,7 @@
 
         <node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17002" />
+            <param name="destination_port" value="17006" />
             <rosparam param="topics">
                 [{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 30.0}]
             </rosparam>
@@ -20,7 +52,7 @@
 
         <node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17003" />
+            <param name="destination_port" value="17007" />
             <rosparam param="topics">
                 [{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 30.0}]
             </rosparam>
@@ -28,7 +60,7 @@
 
         <node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17004" />
+            <param name="destination_port" value="17008" />
             <rosparam param="topics">
                 [{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 30.0}]
             </rosparam>
@@ -36,7 +68,7 @@
 
         <node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17005" />
+            <param name="destination_port" value="17009" />
             <rosparam param="topics">
                 [{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 30.0}]
             </rosparam>
@@ -44,7 +76,7 @@
 
         <node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17006" />
+            <param name="destination_port" value="17010" />
             <rosparam param="topics">
                 [{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 30.0}]
             </rosparam>
@@ -52,7 +84,7 @@
 
         <node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17007" />
+            <param name="destination_port" value="17011" />
             <rosparam param="topics">
                 [{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 30.0}]
             </rosparam>
@@ -60,7 +92,7 @@
 
         <node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
             <param name="destination_addr" value="$(arg target)" />
-            <param name="destination_port" value="17008" />
+            <param name="destination_port" value="17012" />
             <rosparam param="topics">
                 [{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 30.0}]
             </rosparam>