diff --git a/NaviGator/hardware_drivers/navigator_ball_launcher/nodes/driver.py b/NaviGator/hardware_drivers/navigator_ball_launcher/nodes/driver.py
index f1a40b340..aed93d345 100755
--- a/NaviGator/hardware_drivers/navigator_ball_launcher/nodes/driver.py
+++ b/NaviGator/hardware_drivers/navigator_ball_launcher/nodes/driver.py
@@ -4,5 +4,6 @@
 
 if __name__ == "__main__":
     rospy.init_node("ball_launcher")
-    device = BallLauncherDevice(str(rospy.get_param("~port")))
+    port = "/dev/serial/by-id/usb-Raspberry_Pi_Pico_E6635C08CB65BC36-if00"
+    device = BallLauncherDevice(port)
     rospy.spin()
diff --git a/NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch b/NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch
index ded5088a6..f9dc0e876 100644
--- a/NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch
+++ b/NaviGator/mission_control/navigator_launch/launch/perception/classifier.launch
@@ -1,24 +1,24 @@
 <?xml version="1.0"?>
 <launch>
 
-  <arg name="weights_model1" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
+  <arg name="weights_model1" default="$(find yolov7_ros)/src/mil_weights/robotx2024.pt" />
   <arg name="weights_model2" default="$(find yolov7_ros)/src/mil_weights/robotx.pt" />
   <arg name="weights_model3" default="$(find yolov7_ros)/src/mil_weights/stc.pt" />
-  <arg name="data_yaml_model1" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
+  <arg name="data_yaml_model1" default="$(find yolov7_ros)/src/data/robotx2024.yaml" />
   <arg name="data_yaml_model2" default="$(find yolov7_ros)/src/data/vrx_buoys.yaml" />
   <arg name="data_yaml_model3" default="$(find yolov7_ros)/src/data/stc.yaml" />
-  <arg name="main_image_topic" default="/camera/front/left/image_color" />
+  <arg name="main_image_topic" default="/camera/front/right/image_color" />
   <arg name="image_topic_model1" default="/yolov7/model1" />
   <arg name="image_topic_model2" default="/yolov7/model2" />
   <arg name="out_topic_model1" default="detections_model1" />
   <arg name="out_topic_model2" default="detections_model2" />
   <arg name="out_topic_model3" default="stc_detections_model" />
-  <arg name="conf_thresh" default="0.7" />
+  <arg name="conf_thresh" default="0.50" />
   <arg name="image_size" default="640" />
   <arg name="device" default="cpu" />
-  <arg name="use_yolo_model1" default="False" />
+  <arg name="use_yolo_model1" default="True" />
   <arg name="use_yolo_model2" default="False" />
-  <arg name="use_yolo_model3" default="True" />
+  <arg name="use_yolo_model3" default="False" />
 
   <node name="testing_arbiter" pkg="topic_tools" type="demux" args="$(arg main_image_topic) $(arg image_topic_model1) $(arg image_topic_model2) /yolov7/none">
     <remap from="demux" to="/yolov7" />
diff --git a/mil_common/perception/point_cloud_object_detection_and_recognition/src/ogrid_manager.cpp b/mil_common/perception/point_cloud_object_detection_and_recognition/src/ogrid_manager.cpp
index b921ae016..3a3bc1dc9 100644
--- a/mil_common/perception/point_cloud_object_detection_and_recognition/src/ogrid_manager.cpp
+++ b/mil_common/perception/point_cloud_object_detection_and_recognition/src/ogrid_manager.cpp
@@ -50,6 +50,11 @@ void OgridManager::update_ogrid(ObjectMap const& objects)
   // Clear ogrid
   ogrid_mat_ = cv::Scalar(0);
 
+  if (!bounds_)
+  {
+    return;
+  }
+
   // Draw border on ogrid
   draw_boundary();