diff --git a/darknet_ros_3d/config/darknet_3d.yaml b/darknet_ros_3d/config/darknet_3d.yaml
index 59c07b6..d89525e 100644
--- a/darknet_ros_3d/config/darknet_3d.yaml
+++ b/darknet_ros_3d/config/darknet_3d.yaml
@@ -2,7 +2,7 @@ darknet3d_node:
   ros__parameters:
     darknet_ros_topic: /darknet_ros/bounding_boxes
     output_bbx3d_topic: /darknet_ros_3d/bounding_boxes
-    point_cloud_topic: /camera/pointcloud
+    point_cloud_topic: /camera/depth/color/points
     working_frame: camera_link
     maximum_detection_threshold: 0.2
     minimum_probability: 0.4
diff --git a/darknet_ros_3d/launch/darknet_ros_3d.launch.py b/darknet_ros_3d/launch/darknet_ros_3d.launch.py
index e91a853..5c135ba 100644
--- a/darknet_ros_3d/launch/darknet_ros_3d.launch.py
+++ b/darknet_ros_3d/launch/darknet_ros_3d.launch.py
@@ -26,19 +26,22 @@ def generate_launch_description():
     pkg_dir = get_package_share_directory('darknet_ros_3d')
     config_file_path = pkg_dir + params_file
 
+    stdout_envvar = SetEnvironmentVariable(
+        'RCUTILS_LOGGING_USE_STDOUT', '1')
     stdout_linebuf_envvar = SetEnvironmentVariable(
-        'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
 
     # Create Node:
     darknet3d_node = Node(
         package='darknet_ros_3d',
-        node_executable='darknet3d_node',
-        node_name='darknet3d_node',
+        executable='darknet3d_node',
+        name='darknet3d_node',
         output='screen',
         parameters=[config_file_path]
     )
 
     ld = LaunchDescription()
+    ld.add_action(stdout_envvar)
     ld.add_action(stdout_linebuf_envvar)
     ld.add_action(darknet3d_node)
 
diff --git a/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp b/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp
index 8ab5598..b63a2b3 100644
--- a/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp
+++ b/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp
@@ -17,7 +17,7 @@
 
 #include "darknet_ros_3d/Darknet3D.hpp"
 #include <tf2/transform_datatypes.h>
-#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
+#include <tf2_sensor_msgs/tf2_sensor_msgs.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <geometry_msgs/msg/point32.hpp>
@@ -48,7 +48,7 @@ Darknet3D::Darknet3D()
   this->declare_parameter("working_frame", "camera_link");
   this->declare_parameter("maximum_detection_threshold", 0.3f);
   this->declare_parameter("minimum_probability", 0.3f);
-  this->declare_parameter("interested_classes");
+  this->declare_parameter("interested_classes", rclcpp::PARAMETER_STRING_ARRAY);
 
   this->configure();
 
@@ -184,7 +184,7 @@ Darknet3D::publish_markers(gb_visual_detection_3d_msgs::msg::BoundingBoxes3d box
     bbx_marker.color.g = bb.probability * 255.0;
     bbx_marker.color.r = (1.0 - bb.probability) * 255.0;
     bbx_marker.color.a = 0.4;
-    bbx_marker.lifetime = rclcpp::Duration(1.0);
+    bbx_marker.lifetime = rclcpp::Duration(1, 0);
     bbx_marker.text = bb.object_name;
 
     msg.markers.push_back(bbx_marker);