diff --git a/lab03/README.md b/lab03/README.md
index 2a478557c56ccf5e6f1e63a8011ffee01e4921c6..65573c42475f1cfd9b72dccb72a698c1ab02b896 100644
--- a/lab03/README.md
+++ b/lab03/README.md
@@ -370,6 +370,8 @@ Sprawdź i zapisz numer seryjny obu kamer, które będą potrzebne za chwilę pr
 Aby uruchomić obie kamery w środowisku ROS potrzebujemy pliku launch, takiego jak poniżej:
 ```xml
 <launch>
+  <arg name="device_type_camera1"             default="t265"/>
+  <arg name="device_type_camera2"             default="d4.5"/>
   <arg name="serial_no_camera1"         default=""/>      <!-- Note: Replace with actual serial number -->
   <arg name="serial_no_camera2"         default=""/>      <!-- Note: Replace with actual serial number -->
   <arg name="camera1"                   default="t265"/>  
@@ -386,21 +388,40 @@ Aby uruchomić obie kamery w środowisku ROS potrzebujemy pliku launch, takiego
   <arg name="topic_odom_in"             default="odom_in"/>
   <arg name="calib_odom_file"           default=""/>
  
+
+
   <group ns="$(arg camera1)">
     <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
       <arg name="serial_no"             value="$(arg serial_no_camera1)"/>
+      <arg name="device_type"             value="$(arg device_type_camera1)"/>
       <arg name="tf_prefix"             value="$(arg tf_prefix_camera1)"/>
       <arg name="initial_reset"         value="$(arg initial_reset)"/>
       <arg name="enable_fisheye1"       value="$(arg enable_fisheye)"/>
       <arg name="enable_fisheye2"       value="$(arg enable_fisheye)"/>
       <arg name="topic_odom_in"         value="$(arg topic_odom_in)"/>
       <arg name="calib_odom_file"       value="$(arg calib_odom_file)"/>
+      <arg name="fisheye_fps"         default="30"/>
+      <arg name="gyro_fps"            default="200"/>
+      <arg name="accel_fps"           default="62"/>
+      <arg name="enable_gyro"         default="true"/>
+      <arg name="enable_accel"        default="true"/>
+      <arg name="enable_pose"         default="true"/>
+
+      <arg name="enable_sync"           default="false"/>
+
+      <arg name="linear_accel_cov"      default="0.01"/>
+      <arg name="initial_reset"         default="false"/>
+      <arg name="unite_imu_method"      default=""/>
+
+      <arg name="publish_odom_tf"     default="true"/>
+
     </include>
   </group>
  
   <group ns="$(arg camera2)">
     <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
       <arg name="serial_no"             value="$(arg serial_no_camera2)"/>
+      <arg name="device_type"             value="$(arg device_type_camera2)"/>
       <arg name="tf_prefix"             value="$(arg tf_prefix_camera2)"/>
       <arg name="initial_reset"         value="$(arg initial_reset)"/>
       <arg name="align_depth"           value="true"/>
@@ -571,7 +592,7 @@ Jaki widać po ustawieniu parametru /use_sim_time oraz argumentu --clock, pojawi
 Do realizacji mapy 3d posłużymy się jednak plikiem launch, żeby uprościć proces uruchamiania całości
 ```xml
 <launch>
-    <arg name="bag_file_dir" default="/home/robot/catkin_ws/src/laboratorium_pliki_dodatkowe/bagfiles/lab_kor.bag"/>
+    <arg name="bag_file_dir" default="$(find laboratorium_pliki_dodatkowe)/bagfiles/lab_kor.bag"/>
     <param name="use_sim_time" type="bool" value="true"/>
     <node name="bag_file" pkg="rosbag" type="play" output="screen" args="--clock $(arg bag_file_dir)"/>
 </launch>