diff --git a/aichallenge/record_rosbag.bash b/aichallenge/record_rosbag.bash
new file mode 100755
index 00000000..35e8db45
--- /dev/null
+++ b/aichallenge/record_rosbag.bash
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+source /aichallenge/workspace/install/setup.bash
+ros2 bag record -a -x "(/racing_kart/.*|/to_can_bus|/from_can_bus)"
\ No newline at end of file
diff --git a/remote/scan_ip_addr.py b/remote/scan_ip_addr.py
index 9dee716b..9eef3a72 100755
--- a/remote/scan_ip_addr.py
+++ b/remote/scan_ip_addr.py
@@ -10,7 +10,7 @@
     "A4": "a8:43:a4:54:aa:63",
     "A5": "c0:4b:24:c0:fc:fc",
     "A6": "c0:4b:24:02:5d:55",
-    "A7": "c0:4b:24:02:9a:41",
+    "A7": "c0:4b:24:c1:03:de",
     "A8": "c8:8a:d8:1e:b3:81",
 }
 
diff --git a/vehicle/zenoh.json5 b/vehicle/zenoh.json5
index 0e1ddbaf..9f0e1baa 100644
--- a/vehicle/zenoh.json5
+++ b/vehicle/zenoh.json5
@@ -75,7 +75,7 @@
       ////                      - "regex" is a regular expression matching a Publisher interface name
       ////                      - "float" is the maximum frequency in Hertz;
       ////                        if publication rate is higher, downsampling will occur when routing.
-      // pub_max_frequencies: [".*/laser_scan=5", "/tf=10"],
+      pub_max_frequencies: ["/*=10"],
 
       ////
       //// pub_priorities: Specify a list of priorities of publications routing over zenoh for a set of Publishers.