diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index c40222e..e477f62 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -13,8 +13,8 @@
   <arg name="depth_topic" default="depth/image_raw" />
   <arg name="points_topic" default="points/data_raw" />
 
-  <arg name="left_gray_topic" default="left/image_gray" />
-  <arg name="right_gray_topic" default="right/image_gray" />
+  <arg name="left_mono_topic" default="left/image_mono" />
+  <arg name="right_mono_topic" default="right/image_mono" />
 
   <arg name="imu_topic" default="imu/data_raw" />
   <arg name="temp_topic" default="temp/data_raw" />
@@ -105,8 +105,8 @@
       <param name="points_topic" value="$(arg points_topic)" />
       <param name="depth_topic" value="$(arg depth_topic)" />
 
-      <param name="left_gray_topic" value="$(arg left_gray_topic)" />
-      <param name="right_gray_topic" value="$(arg right_gray_topic)" />
+      <param name="left_mono_topic" value="$(arg left_mono_topic)" />
+      <param name="right_mono_topic" value="$(arg right_mono_topic)" />
 
       <param name="imu_topic" value="$(arg imu_topic)" />
       <param name="temp_topic" value="$(arg temp_topic)" />
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 d378a1a..c43513f 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
@@ -82,11 +82,11 @@ Visualization Manager:
           Displays:
             - Class: rviz/Image
               Enabled: true
-              Image Topic: /mynteye/left/image_gray
+              Image Topic: /mynteye/left/image_mono
               Max Value: 1
               Median window: 5
               Min Value: 0
-              Name: LeftGray
+              Name: LeftMono
               Normalize Range: true
               Queue Size: 2
               Transport Hint: raw
@@ -94,18 +94,18 @@ Visualization Manager:
               Value: true
             - Class: rviz/Image
               Enabled: true
-              Image Topic: /mynteye/right/image_gray
+              Image Topic: /mynteye/right/image_mono
               Max Value: 1
               Median window: 5
               Min Value: 0
-              Name: RightGray
+              Name: RightMono
               Normalize Range: true
               Queue Size: 2
               Transport Hint: raw
               Unreliable: false
               Value: true
-          Enabled: false
-          Name: Gray
+          Enabled: true
+          Name: Mono
         - Class: rviz/Group
           Displays:
             - Class: rviz/Image
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 d4b9c52..dd33f48 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
@@ -115,13 +115,13 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       private_nh_.getParam(it->second + "_topic", stream_topics[it->first]);
     }
 
-    std::map<Stream, std::string> gray_names{{Stream::LEFT, "left_gray"},
-                                             {Stream::RIGHT, "right_gray"}};
+    std::map<Stream, std::string> mono_names{{Stream::LEFT, "left_mono"},
+                                             {Stream::RIGHT, "right_mono"}};
 
-    std::map<Stream, std::string> gray_topics{};
-    for (auto &&it = gray_names.begin(); it != gray_names.end(); ++it) {
-      gray_topics[it->first] = it->second;
-      private_nh_.getParam(it->second + "_topic", gray_topics[it->first]);
+    std::map<Stream, std::string> mono_topics{};
+    for (auto &&it = mono_names.begin(); it != mono_names.end(); ++it) {
+      mono_topics[it->first] = it->second;
+      private_nh_.getParam(it->second + "_topic", mono_topics[it->first]);
     }
 
     std::string imu_topic = "imu";
@@ -188,10 +188,10 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
 
-    for (auto &&it = gray_topics.begin(); it != gray_topics.end(); ++it) {
-      auto &&topic = gray_topics[it->first];
+    for (auto &&it = mono_topics.begin(); it != mono_topics.end(); ++it) {
+      auto &&topic = mono_topics[it->first];
       if (it->first == Stream::LEFT || it->first == Stream::RIGHT) {  // camera
-        gray_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
+        mono_publishers_[it->first] = it_mynteye.advertiseCamera(topic, 1);
       }
       NODELET_INFO_STREAM("Advertized on topic " << topic);
     }
@@ -291,7 +291,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
           ++left_count_;
           publishCamera(Stream::LEFT, data, left_count_, stamp);
-          publishGray(Stream::LEFT, data, left_count_, stamp);
+          publishMono(Stream::LEFT, data, left_count_, stamp);
           NODELET_DEBUG_STREAM(
               Stream::LEFT << ", count: " << left_count_
                            << ", frame_id: " << data.img->frame_id
@@ -305,7 +305,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
           ++right_count_;
           publishCamera(Stream::RIGHT, data, right_count_, stamp);
-          publishGray(Stream::RIGHT, data, right_count_, stamp);
+          publishMono(Stream::RIGHT, data, right_count_, stamp);
           NODELET_DEBUG_STREAM(
               Stream::RIGHT << ", count: " << right_count_
                             << ", frame_id: " << data.img->frame_id
@@ -419,21 +419,21 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     image_publishers_[stream].publish(msg);
   }
 
-  void publishGray(
+  void publishMono(
       const Stream &stream, const api::StreamData &data, std::uint32_t seq,
       ros::Time stamp) {
-    if (gray_publishers_[stream].getNumSubscribers() == 0)
+    if (mono_publishers_[stream].getNumSubscribers() == 0)
       return;
     std_msgs::Header header;
     header.seq = seq;
     header.stamp = stamp;
     header.frame_id = frame_ids_[stream];
-    cv::Mat gray;
-    cv::cvtColor(data.frame, gray, CV_RGB2GRAY);
-    auto &&msg = cv_bridge::CvImage(header, enc::MONO8, gray).toImageMsg();
+    cv::Mat mono;
+    cv::cvtColor(data.frame, mono, CV_RGB2GRAY);
+    auto &&msg = cv_bridge::CvImage(header, enc::MONO8, mono).toImageMsg();
     auto &&info = getCameraInfo(stream);
     info->header.stamp = msg->header.stamp;
-    gray_publishers_[stream].publish(msg, info);
+    mono_publishers_[stream].publish(msg, info);
   }
 
   void publishPoints(
@@ -878,8 +878,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
   std::map<Stream, image_transport::Publisher> image_publishers_;
   std::map<Stream, std::string> image_encodings_;
 
-  // gray: LEFT, RIGHT
-  std::map<Stream, image_transport::CameraPublisher> gray_publishers_;
+  // mono: LEFT, RIGHT
+  std::map<Stream, image_transport::CameraPublisher> mono_publishers_;
 
   // pointcloud: POINTS
   ros::Publisher points_publisher_;