diff --git a/launch/driver.launch b/launch/driver.launch
index 8f16486..8a2ae75 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -8,7 +8,7 @@
         <rosparam param="source_list">["/vector/joint_states"]</rosparam>
     </node>
 
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
         <param name="rate" value="10.0"/>
     </node>
 
@@ -53,4 +53,4 @@
         <param name="~forwardMovementOnly" value="false" />
         <remap from="cmd_vel" to="/vector/cmd_vel" />
     </node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/nodes/vector_node.py b/nodes/vector_node.py
index 832285c..a9a2821 100755
--- a/nodes/vector_node.py
+++ b/nodes/vector_node.py
@@ -25,11 +25,14 @@
 
     else:
         async_robot = anki_vector.AsyncRobot()
-        async_robot.camera.init_camera_feed()
+        # async_robot.camera.init_camera_feed()
 
     # connect to Vector
     async_robot.connect()
 
+    # Camera feed?
+    async_robot.camera.init_camera_feed()
+
     # start all using shared AsyncRobot object
     Vector(async_robot)
     Animation(async_robot)
@@ -45,4 +48,4 @@
     tf_thread = threading.Thread(target=JointStatesPublisher, args=(async_robot,))
     tf_thread.start()
 
-    rospy.spin()
\ No newline at end of file
+    rospy.spin()
diff --git a/src/vector_ros_driver/camera.py b/src/vector_ros_driver/camera.py
index 9f457e0..06d8a21 100755
--- a/src/vector_ros_driver/camera.py
+++ b/src/vector_ros_driver/camera.py
@@ -5,6 +5,8 @@
 import cv_bridge
 import numpy
 
+import cv2
+
 from sensor_msgs.msg import Image
 
 class Camera(object):
@@ -19,7 +21,9 @@ def publish_camera_feed(self):
         bridge = cv_bridge.CvBridge()
 
         while not rospy.is_shutdown():
-            image = bridge.cv2_to_imgmsg(numpy.asarray(self.async_robot.camera.latest_image), encoding="rgb8") # convert PIL.Image to ROS Image
+            raw_image = numpy.asarray(self.async_robot.camera.latest_image.raw_image)
+            # image = bridge.cv2_to_imgmsg(numpy.asarray(self.async_robot.camera.latest_image), encoding="rgb8") # convert PIL.Image to ROS Image
+            image = bridge.cv2_to_imgmsg(raw_image, encoding="rgb8") # convert PIL.Image to ROS Image
             image.header.stamp = rospy.Time.now()
             image.header.frame_id = self.image_frame_id
             self.image_publisher.publish(image)
diff --git a/src/vector_ros_driver/vector.py b/src/vector_ros_driver/vector.py
index d39d673..352ca6f 100755
--- a/src/vector_ros_driver/vector.py
+++ b/src/vector_ros_driver/vector.py
@@ -34,7 +34,7 @@ def battery_state_service_cb(self, request):
         return response
 
     def say_text_cb(self, request):
-        self.robot.say_text(request.text)
+        self.robot.behavior.say_text(request.text)
 
         return SayTextResponse()