diff --git a/launch/include/spawn_stretch.xml b/launch/include/spawn_stretch.xml
index 66dc75a..4cc01a6 100644
--- a/launch/include/spawn_stretch.xml
+++ b/launch/include/spawn_stretch.xml
@@ -62,6 +62,28 @@
     <param name="initial_mode" value="Default"/>
   </node>
 
+  <group ns="camera" if="$(arg realsense)">
+    <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" />
+
+    <node pkg="nodelet" type="nodelet" name="nodelet1"
+          args="load depth_image_proc/register nodelet_manager">
+      <remap from="rgb/camera_info" to="color/camera_info"/>
+      <remap from="depth/camera_info" to="depth/camera_info"/>
+      <remap from="depth/image_rect" to="depth/image_raw"/>
+      <remap from="depth_registered/camera_info" to="aligned_depth_to_color/camera_info"/>
+      <remap from="depth_registered/image_rect" to="aligned_depth_to_color/image_raw"/>
+    </node>
+
+    <node pkg="nodelet" type="nodelet" name="nodelet2"
+          args="load depth_image_proc/point_cloud_xyzrgb nodelet_manager">
+      <remap from="rgb/image_rect_color" to="color/image_raw"/>
+      <remap from="rgb/camera_info" to="color/camera_info"/>
+      <remap from="depth_registered/camera_info" to="aligned_depth_to_color/camera_info"/>
+      <remap from="depth_registered/image_rect" to="aligned_depth_to_color/image_raw"/>
+      <remap from="depth_registered/points" to="depth/color/points"/>
+    </node>
+  </group>
+
   <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
   <!--include file="$(find stretch_moveit_config)/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
diff --git a/robots/forky.gazebo.xacro b/robots/forky.gazebo.xacro
index b231261..8db7c4d 100644
--- a/robots/forky.gazebo.xacro
+++ b/robots/forky.gazebo.xacro
@@ -394,7 +394,7 @@
           <infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
           <rangeMinDepth>0.1</rangeMinDepth>
           <rangeMaxDepth>10</rangeMaxDepth>
-          <pointCloud>1</pointCloud>
+          <pointCloud>0</pointCloud>
           <pointCloudTopicName>depth/color/points</pointCloudTopicName>
           <pointCloudCutoff>0.15</pointCloudCutoff>
           <pointCloudCutoffMax>10</pointCloudCutoffMax>
diff --git a/scripts/follow_joint_trajectory_server b/scripts/follow_joint_trajectory_server
index a2bbd32..877a19a 100755
--- a/scripts/follow_joint_trajectory_server
+++ b/scripts/follow_joint_trajectory_server
@@ -351,6 +351,8 @@ class FollowJointTrajectoryServer(object):
             # print(feedback_msg)
             self._as.publish_feedback(feedback_msg)
         self.base.stopped = False
+        # Manually reset this bit
+        # self._as.preempt_request = False
         rospy.loginfo(f"{goal.trajectory.joint_names} {goal.trajectory.points[0].positions} {goal.trajectory.points[0].velocities}")
 
         modified = goal.trajectory