diff --git a/ros2_ws/src/yolov3/detect_on_bag.py b/ros2_ws/src/yolov3/detect_on_bag.py
index ceb6836e..51b2ebdf 100644
--- a/ros2_ws/src/yolov3/detect_on_bag.py
+++ b/ros2_ws/src/yolov3/detect_on_bag.py
@@ -43,6 +43,7 @@ from utils.augmentations import Albumentations, augment_hsv, copy_paste, letterb
 import numpy as np
 from yolov3_msg.msg import BoundingBox, BoundingBoxes
 from rclpy.clock import Clock
+from sensor_msgs.msg import CameraInfo
 
 @torch.no_grad()
 def run(weights=ROOT / 'yolov3.pt',  # model.pt path(s)
@@ -161,27 +162,59 @@ class DetectOnBag(Node):
 
     def __init__(self):
         super().__init__('detect_on_bag')
+        self.camera_info = None
+        self.depth_img = None
         self.subscription = self.create_subscription(
             Image,
             '/camera/color/image_raw',
             self.image_callback,
             10)
         self.subscription  # prevent unused variable warning
+        self.subscription = self.create_subscription(
+            Image,
+            '/camera/aligned_depth_to_color/image_raw',
+            self.image_depth_callback,
+            10)
+        self.subscription 
+        self.subscription = self.create_subscription(
+            CameraInfo,
+            '/camera/color/camera_info',
+            self.camera_info_callback,
+            10)
+        self.subscription 
         self.detected_img_pub = self.create_publisher(Image, '/detection_image', 10)
         self.bboxes_pub = self.create_publisher(BoundingBoxes, '/bboxes', 10)
+        self.depth_pub = self.create_publisher(Image, '/depth_img', 10)
+        self.img_pub = self.create_publisher(Image, '/rgb_img', 10)
+        self.info_pub = self.create_publisher(CameraInfo, '/camera_info', 10)
+    
+    def camera_info_callback(self, msg):
+        print("camera info cb")
+        # print(msg.header.stamp)
+        self.camera_info = msg
+    
+    def image_depth_callback(self, msg):
+        print("depth info cb")
+        # print(msg.header.stamp)
+        self.depth_img = msg
 
     def image_callback(self, msg):
-        self.get_logger().info('Image')
-        print(msg.header.stamp)
+        print("rgb img cb")
+        # print(msg.header.stamp)
 
         bridge = CvBridge()
         cv_image = bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough')
-        detected_img, bboxes = run('src/yolov3/runs/train/exp14/weights/best.pt', cv_image)
+        detected_img, bboxes = run('src/yolov3/runs/train/exp15/weights/best.pt', cv_image)
         self.detected_img_pub.publish(self.numpy_array_to_image_msg(detected_img))
         bboxes.image_header = msg.header
         bboxes.header.stamp = msg.header.stamp
         bboxes.header.frame_id = 'detection'
         self.bboxes_pub.publish(bboxes)
+        if self.depth_img:
+            self.depth_pub.publish(self.depth_img)
+        self.img_pub.publish(msg)
+        if self.camera_info:
+            self.info_pub.publish(self.camera_info)
     
     def numpy_array_to_image_msg(self, numpy_array):
         # Create a CvBridge object