diff --git a/launch/msckf_vio_tum.launch b/launch/msckf_vio_tum.launch
index 467f3b4..911f36b 100644
--- a/launch/msckf_vio_tum.launch
+++ b/launch/msckf_vio_tum.launch
@@ -21,7 +21,7 @@
       <param name="PHOTOMETRIC" value="true"/>
 
       <!-- Debugging Flaggs -->
-      <param name="PrintImages" value="false"/>
+      <param name="PrintImages" value="true"/>
       <param name="GroundTruth" value="false"/>
 
       <param name="patch_size_n" value="1"/>
diff --git a/src/msckf_vio.cpp b/src/msckf_vio.cpp
index 2616c0c..a4d2463 100644
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -404,8 +404,18 @@ void MsckfVio::imageCallback(
     const sensor_msgs::ImageConstPtr& cam1_img,
     const CameraMeasurementConstPtr& feature_msg)
 {
+
+  if(PRINTIMAGES)
+  {
+    std::cout << "stopped playpack" << std::endl;
+    nh.setParam("/play_bag", false);
+  }
   // Return if the gravity vector has not been set.
-  if (!is_gravity_set) return;
+  if (!is_gravity_set) 
+  {
+    nh.setParam("/play_bag", true);
+    return;
+  }
 
   // Start the system if the first image is received.
   // The frame where the first image is received will be
@@ -512,6 +522,13 @@ void MsckfVio::imageCallback(
         publish_time, publish_time/processing_time);
   }
 
+
+  if(PRINTIMAGES)
+  {
+    std::cout << "stopped playpack" << std::endl;
+    nh.setParam("/play_bag", true);
+  }
+
   return;
 }
 
@@ -1334,9 +1351,9 @@ void MsckfVio::PhotometricMeasurementJacobian(
   //TODO make this more fluent as well
   if(PRINTIMAGES)
   {  
-    std::stringstream ss;
-    ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << "  frame: " << cam_state_cntr;
-    feature.MarkerGeneration(marker_pub, state_server.cam_states);
+    //std::stringstream ss;
+    //ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << "  frame: " << cam_state_cntr;
+    //feature.MarkerGeneration(marker_pub, state_server.cam_states);
     //feature.VisualizePatch(cam_state, cam_state_id, cam0, photo_r, ss);
   }
 
@@ -1350,11 +1367,6 @@ void MsckfVio::PhotometricFeatureJacobian(
 {
 
   // stop playing bagfile if printing images
-  if(PRINTIMAGES)
-  {
-    std::cout << "stopped playpack" << std::endl;
-    nh.setParam("/play_bag", false);
-  }
 
   const auto& feature = map_server[feature_id];
   
@@ -1408,6 +1420,7 @@ void MsckfVio::PhotometricFeatureJacobian(
   H_x = A_null_space.transpose() * H_xi;
   r = A_null_space.transpose() * r_i;
 
+  /*
   if(PRINTIMAGES)
   {
 
@@ -1436,7 +1449,7 @@ void MsckfVio::PhotometricFeatureJacobian(
   myfile.close();
     std::cout << "resume playback" << std::endl;
     nh.setParam("/play_bag", true);
-  }
+  }*/
   return;
 }