diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense.yaml
index 87528b7e..82ab4cb2 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense.yaml
@@ -5,18 +5,21 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
   left:
     image_topic: "/alphasense_driver_ros/cam3/debayered"
     info_topic: "/alphasense_driver_ros/cam3/camera_info"
     use_for_training: false
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
   right:
     image_topic: "/alphasense_driver_ros/cam5/debayered"
     info_topic: "/alphasense_driver_ros/cam5/camera_info"
     use_for_training: false
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
 
 # Provides 1080 (height) x 1920 (width) images
 network_input_image_height: 224 # 448
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_compressed.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_compressed.yaml
index f19e5d1a..3017f436 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_compressed.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_compressed.yaml
@@ -5,18 +5,21 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
   left:
     image_topic: "/alphasense_driver_ros/cam3/color_rect/image/compressed"
     info_topic: "/alphasense_driver_ros/cam3/color_rect/camera_info"
     use_for_training: false
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
   right:
     image_topic: "/alphasense_driver_ros/cam5/color_rect/image/compressed"
     info_topic: "/alphasense_driver_ros/cam5/color_rect/camera_info"
     use_for_training: false
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
 
 # Provides 1080 (height) x 1920 (width) images
 network_input_image_height: 224 # 448
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_compressed_front.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_compressed_front.yaml
index 6f252694..6e284945 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_compressed_front.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_compressed_front.yaml
@@ -5,6 +5,7 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
   
 # Provides 1080 (height) x 1920 (width) images
 network_input_image_height: 224 # 448
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_resize.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_resize.yaml
index 3d806b0c..bd7d2c61 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_resize.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/alphasense_resize.yaml
@@ -5,18 +5,21 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
   left:
     image_topic: "/alphasense_driver_ros/cam3/color_rect_resize/image"
     info_topic: "/alphasense_driver_ros/cam3/color_rect_resize/camera_info"
     use_for_training: false
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
   right:
     image_topic: "/alphasense_driver_ros/cam5/color_rect_resize/image"
     info_topic: "/alphasense_driver_ros/cam5/color_rect_resize/camera_info"
     use_for_training: false
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
 
 # Provides 1080 (height) x 1920 (width) images
 network_input_image_height: 224 # 448
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/realsense_front.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/realsense_front.yaml
index 3bc33ece..c98d812d 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/realsense_front.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/realsense_front.yaml
@@ -5,6 +5,7 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
 
 # Provides 480 (height) x 848 (width) images
 network_input_image_height: 448 # 448
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/realsense_rear.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/realsense_rear.yaml
index 35ad15fc..1cb0ea2c 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/realsense_rear.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/realsense_rear.yaml
@@ -5,6 +5,7 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
 
 # Provides 480 (height) x 848 (width) images
 network_input_image_height: 224 # 448
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front.yaml
index 41106092..538caac7 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front.yaml
@@ -5,6 +5,7 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
 
 # Provides 1080 (height) x 1920 (width) images
 network_input_image_height: 448 # 448
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_compressed.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_compressed.yaml
index df07ccb8..0f6a60fc 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_compressed.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_compressed.yaml
@@ -5,6 +5,7 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
 
 # Provides 1080 (height) x 1920 (width) images
 network_input_image_height: 224 # 448
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml
index d4d63fe0..a848c505 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml
@@ -5,6 +5,7 @@ camera_topics:
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
+    scheduler_weight: 1
 
 # Provides 1080 (height) x 1920 (width) images
 network_input_image_height: 224 # 448
diff --git a/wild_visual_navigation_ros/launch/wild_visual_navigation.launch b/wild_visual_navigation_ros/launch/wild_visual_navigation.launch
index adec6014..5fdfa90a 100644
--- a/wild_visual_navigation_ros/launch/wild_visual_navigation.launch
+++ b/wild_visual_navigation_ros/launch/wild_visual_navigation.launch
@@ -1,6 +1,6 @@
 <launch>
   <!-- Arguments -->
-  <arg name="camera"            default="alphasense_compressed_front"/> <!-- alphasense, wide_angle_front, realsense_front, realsense_rear -->
+  <arg name="camera"            default="alphasense_compressed"/> <!-- alphasense, wide_angle_front, realsense_front, realsense_rear -->
   <arg name="stack"             default="anybotics"/> <!-- rsl or anybotics  $(eval arg('camera') == 'wide_angle_front_resize')  $(eval arg('camera') == 'alphasense_resize') -->  
   <arg name="params_file"       default="$(find wild_visual_navigation_ros)/config/wild_visual_navigation/default.yaml"/>
   <arg name="overlay_images"    default="True"/>
diff --git a/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py b/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
index 98439e71..61de24b1 100644
--- a/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
+++ b/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
@@ -113,7 +113,7 @@ def setup_ros(self, setup_fully=True):
         # Image callback
 
         self._camera_handler = {}
-        self._scheduler = Scheduler()
+        self._camera_scheduler = Scheduler()
 
         if self._ros_params.verbose:
             # DEBUG Logging
@@ -132,7 +132,8 @@ def setup_ros(self, setup_fully=True):
             self._ros_params.camera_topics[cam]["name"] = cam
 
             # Add to scheduler
-            self._scheduler.add_process(cam, 1)
+            rospy.logwarn(self._ros_params.camera_topics)
+            self._camera_scheduler.add_process(cam, self._ros_params.camera_topics[cam]["scheduler_weight"])
 
             # Camera info
             rospy.loginfo(f"[{self._node_name}] Waiting for camera info topic...")
@@ -276,7 +277,7 @@ def image_callback(self, image_msg: Image, cam: str):  # info_msg: CameraInfo
             return
 
         # Check the scheduler
-        if self._scheduler.get() != cam:
+        if self._camera_scheduler.get() != cam:
             return
         else:
             if self._ros_params.verbose:
@@ -415,7 +416,7 @@ def image_callback(self, image_msg: Image, cam: str):  # info_msg: CameraInfo
             raise Exception("Error in image callback")
 
         # Step scheduler
-        self._scheduler.step()
+        self._camera_scheduler.step()
 
     def load_model(self, stamp):
         """Method to load the new model weights to perform inference on the incoming images