diff --git a/launch/object-localization/tag_detection.launch b/launch/object-localization/tag_detection.launch
index f1eebe7a40ce00d9efa8250bfcd8eb18420882b4..859cf433f83c6ccc02fbd60ef9580d1b8b26331a 100644
--- a/launch/object-localization/tag_detection.launch
+++ b/launch/object-localization/tag_detection.launch
@@ -15,7 +15,7 @@
         <param name="image_height" value="1440"/>
         <param name="autofocus" value="1"/>
         <param name="pixel_format" value="mjpeg"/>
-        <param name="framerate" value="1"/>
+        <param name="framerate" value="5"/>
         <param name="autofocus" value="true"/>
     </node>
 
@@ -23,13 +23,14 @@
     <node name="image_proc" pkg="image_proc" type="image_proc" ns="usb_cam" respawn="true"/>
 
     <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="$(arg node_namespace)" clear_params="true"
-          output="screen" launch-prefix="$(arg launch_prefix)" respawn="true">
+          output="log" launch-prefix="$(arg launch_prefix)" respawn="true">
         <!-- Remap topics from those used in code to those on the ROS network -->
         <remap from="image_rect" to="$(arg camera_name)/$(arg image_topic)"/>
         <remap from="camera_info" to="$(arg camera_name)/camera_info"/>
+        <param name="queue_size" type="int" value="1" />
 
-        <param name="publish_tag_detections_image" type="bool" value="true"/>      <!-- default: false -->
+        <param name="publish_tag_detections_image" type="bool" value="false"/>      <!-- default: false -->
     </node>
 
-    <node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator" respawn="true"/>
+    <node pkg="ccf_immersive_sorting" type="object_locator" name="object_locator" respawn="true" output="screen"/>
 </launch>