diff --git a/config/sensors_kinect_depthmap.yaml b/config/sensors_kinect_depthmap.yaml
index 68b7f06bbe4b25bd66817597bc1afe2341d40d2f..9538fe0ac91bf6ebe587516b7d05356f5fe565a2 100644
--- a/config/sensors_kinect_depthmap.yaml
+++ b/config/sensors_kinect_depthmap.yaml
@@ -1,10 +1,11 @@
 sensors:
   - sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
-    image_topic: /head_mount_kinect/depth_registered/image_raw
+    image_topic: /camera/depth_registered/image_raw
     queue_size: 5
     near_clipping_plane_distance: 0.3
     far_clipping_plane_distance: 5.0
     shadow_threshold: 0.2
     padding_scale: 4.0
     padding_offset: 0.03
+    max_update_rate: 1.0
     filtered_cloud_topic: filtered_cloud
diff --git a/config/sensors_kinect_pointcloud.yaml b/config/sensors_kinect_pointcloud.yaml
index 103344215d9a1e2a0e5095990e5601f2647767fe..92e7095a60ba5fa22d64039189caba902cbf1d21 100644
--- a/config/sensors_kinect_pointcloud.yaml
+++ b/config/sensors_kinect_pointcloud.yaml
@@ -1,8 +1,9 @@
 sensors:
   - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
-    point_cloud_topic: /head_mount_kinect/depth_registered/points
+    point_cloud_topic: /camera/depth_registered/points
     max_range: 5.0
     point_subsample: 1
     padding_offset: 0.1
     padding_scale: 1.0
+    max_update_rate: 1.0
     filtered_cloud_topic: filtered_cloud
diff --git a/launch/sensor_manager.launch.xml b/launch/sensor_manager.launch.xml
index 616fcf01038fe9af853d4965f5e3d1eb38fd5d5b..67aa2fd26eecac5ebeb7ef29b10820dae693d684 100644
--- a/launch/sensor_manager.launch.xml
+++ b/launch/sensor_manager.launch.xml
@@ -2,9 +2,13 @@
 
   <!-- This file makes it easy to include the settings for sensor managers -->
 
+  <!-- Param for kinect config -->
+  <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />
+
   <!-- Params for the octomap monitor -->
   <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
-  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="octomap_frame" type="string" value="camera_rgb_optical_frame" />
+  <param name="octomap_resolution" type="double" value="0.05" />
   <param name="max_range" type="double" value="5.0" />
 
   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->