diff --git a/remote_control/measurement_client.py b/remote_control/measurement_client.py
index 2965f13..d3c136d 100644
--- a/remote_control/measurement_client.py
+++ b/remote_control/measurement_client.py
@@ -2,7 +2,7 @@ import socket
 
 HOST, PORT = "localhost", 42424
 
-robot_id = 15
+robot_id = 11
 
 # SOCK_DGRAM is the socket type to use for UDP sockets
 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
diff --git a/remote_control/measurement_server.py b/remote_control/measurement_server.py
index 9e1e959..20bc168 100644
--- a/remote_control/measurement_server.py
+++ b/remote_control/measurement_server.py
@@ -35,11 +35,11 @@ class MeasurementServer(socketserver.ThreadingMixIn, socketserver.UDPServer):
 
 
 if __name__ == "__main__":
-    aruco_estimator = ArucoEstimator(use_realsense=False, robot_marker_ids=[15])
-    estimator_thread = threading.Thread(target=aruco_estimator.run_tracking)
+    aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[11, 12, 13, 14])
+    estimator_thread = threading.Thread(target=aruco_estimator.run_tracking, kwargs={'invert_grayscale': True})
     estimator_thread.start()
 
-    with MeasurementServer(('127.0.0.1', 42424), MeasurementHandler, aruco_estimator,
+    with MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator,
                            max_measurements_per_second=30) as measurement_server:
         measurement_server.serve_forever()