diff --git a/config/public/transform_manager/transform_manager.yaml b/config/public/transform_manager/transform_manager.yaml
index 2ab5b270..caf6d3d5 100644
--- a/config/public/transform_manager/transform_manager.yaml
+++ b/config/public/transform_manager/transform_manager.yaml
@@ -34,7 +34,7 @@ mrs_uav_managers:
 
     mapping_origin_tf:
       enabled: true
-      debug_prints: true
+      debug_prints: false
       lateral_topic: "slam/odom" # name of the topic used for x, y components of the tf (expects nav_msgs/Odometry topic type)
       altitude_topic: "slam/odom" # name of the topic  used for z components of the tf (expects nav_msgs/Odometry topic type)
       orientation_topic: "hw_api/orientation" # name of the topic  used for orientation components of the tf (expects geometry_msgs/Quaternion topic type)
diff --git a/launch/transform_manager.launch b/launch/transform_manager.launch
index 9d6d4ab9..56cf173f 100644
--- a/launch/transform_manager.launch
+++ b/launch/transform_manager.launch
@@ -56,6 +56,7 @@
 
       <!-- Publishers -->
       <remap from="~profiler" to="profiler" />
+      <remap from="~map_delay_out" to="~map_delay" />
 
     </node>