diff --git a/README.md b/README.md
index bcc7463..3f12b23 100644
--- a/README.md
+++ b/README.md
@@ -31,6 +31,10 @@ If using Webots, you must install webots separately.
 
 The repo should now be built, and launch-able in sim or on the kart.
 
+*Note:* If you want to run Phoenix via your PC then connect via ssh using following commamnd
+
+`ssh -X isc@isc-onboard-1.local`
+
 ## Launching
 
 ### Sim
diff --git a/phoenix.repos b/phoenix.repos
index 9e2c5b0..de83e8f 100644
--- a/phoenix.repos
+++ b/phoenix.repos
@@ -38,7 +38,7 @@ repositories:
     depthai-ros:
       type: git
       url: git@github.com:luxonis/depthai-ros.git
-      version: humble
+      version: 82ce67c
     polynomial_planner:
       type: git
       url: git@github.com:ISC-Project-Phoenix/Polynomial_planner.git
diff --git a/phoenix_gazebo/launch/sim.launch.py b/phoenix_gazebo/launch/sim.launch.py
index eeeaa67..2702d02 100644
--- a/phoenix_gazebo/launch/sim.launch.py
+++ b/phoenix_gazebo/launch/sim.launch.py
@@ -116,7 +116,7 @@ def generate_launch_description():
 
         DeclareLaunchArgument(
             'use_ai',
-            default_value='true',
+            default_value='false',
             description='Uses the AI stack if true'),
 
         # Nodes
diff --git a/phoenix_robot/launch/common.launch.py b/phoenix_robot/launch/common.launch.py
index d985def..522aef0 100644
--- a/phoenix_robot/launch/common.launch.py
+++ b/phoenix_robot/launch/common.launch.py
@@ -127,7 +127,7 @@ def generate_launch_description():
     poly_plan = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
             os.path.join(pkg_phoenix_gazebo, 'launch'),
-            '/include/polynomial_planner/polynomial_planner.launch.py'
+            '/include/polynomial_planner/polynomial_planner_ai.launch.py'
         ]),
         launch_arguments={
             'use_sim_time': use_sim_time,