diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
index 9fb045a..3d0cc9f 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
@@ -9,7 +9,6 @@ Panels:
         - /Images1
         - /Images1/Rectified1
         - /Disparity1
-        - /Marker1
       Splitter Ratio: 0.5
     Tree Height: 824
   - Class: rviz/Selection
@@ -187,14 +186,6 @@ Visualization Manager:
       Topic: /mynteye/imu/data_raw
       Unreliable: false
       Value: false
-    - Class: rviz/Marker
-      Enabled: true
-      Marker Topic: /mynteye/camera_mesh
-      Name: Marker
-      Namespaces:
-        "": true
-      Queue Size: 100
-      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -256,7 +247,7 @@ Window Geometry:
     collapsed: false
   LeftRect:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000026500000378fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000378000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000047a000001d90000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000002160000024c0000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000378fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000378000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003bf0000037800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000026500000378fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000378000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000038d000001dc0000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000002160000024c0000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000378fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000378000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003bf0000037800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Right:
     collapsed: false
   RightRect:
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index d72cc51..5fed1e6 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -348,15 +348,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                         sensor_msgs::Temperature>(temperature_topic, 100);
     NODELET_INFO_STREAM("Advertized on topic " << temperature_topic);
 
-    pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 );
-    // where to get the mesh from
-    std::string mesh_file;
-    if (private_nh_.getParam("mesh_file", mesh_file)) {
-      mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file;
-    } else {
-      LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired";
-      mesh_msg_.mesh_resource = "";
-    }
+    // pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 );
+    // // where to get the mesh from
+    // std::string mesh_file;
+    // if (private_nh_.getParam("mesh_file", mesh_file)) {
+    //   mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file;
+    // } else {
+    //   LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired";
+    //   mesh_msg_.mesh_resource = "";
+    // }
 
     // stream toggles
 
@@ -623,7 +623,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   }
 
   void publishTopics() {
-    publishMesh();
+    // publishMesh();
 
     if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
         mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&