diff --git a/launch/active_grasp.yaml b/launch/active_grasp.yaml
index 75ae77a..727018e 100644
--- a/launch/active_grasp.yaml
+++ b/launch/active_grasp.yaml
@@ -1,6 +1,7 @@
 bt_sim:
   gui: True
   seed: 12
+  cam_pub_rate: 10
 
 active_grasp:
   frame_id: task
diff --git a/scripts/bt_sim_node.py b/scripts/bt_sim_node.py
index e132c5d..be1ed42 100755
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -17,9 +17,9 @@ from robot_utils.ros.conversions import *
 
 class BtSimNode:
     def __init__(self):
-        gui = rospy.get_param("~gui", True)
+        self.load_parameters()
         rng = self.get_rng()
-        self.sim = Simulation(gui=gui, rng=rng)
+        self.sim = Simulation(gui=self.gui, rng=rng)
         self.robot_state_interface = RobotStateInterface(self.sim.arm, self.sim.gripper)
         self.arm_interface = ArmInterface(self.sim.arm, self.sim.controller)
         self.gripper_interface = GripperInterface(self.sim.gripper)
@@ -30,6 +30,10 @@ class BtSimNode:
         self.advertise_services()
         self.broadcast_transforms()
 
+    def load_parameters(self):
+        self.gui = rospy.get_param("~gui", True)
+        self.cam_pub_rate = rospy.get_param("~cam_pub_rate")
+
     def get_rng(self):
         seed = rospy.get_param("~seed", None)
         return np.random.default_rng(seed) if seed else np.random
@@ -69,7 +73,7 @@ class BtSimNode:
         self.robot_state_interface.update()
         self.arm_interface.update()
         self.gripper_interface.update(self.sim.dt)
-        if self.step_cnt % int(self.sim.rate / 5) == 0:
+        if self.step_cnt % int(self.sim.rate / self.cam_pub_rate) == 0:
             self.camera_interface.update()