diff --git a/README.md b/README.md
index 4f386f3..dc815e5 100644
--- a/README.md
+++ b/README.md
@@ -78,6 +78,7 @@ In this file, write the path to your Android SDK and NDK in the following way e.
 ndk.dir=/opt/android-ndk-r10b
 sdk.dir=/opt/android-sdk-linux
 ```
+If you haven't installed the SDK and NDK already, follow the instructions in section [Developing with Android Studio](#developing-with-android-studio).
 
 Install catkin tools if necessary.
 ```
@@ -107,6 +108,12 @@ sudo apt-get update
 sudo apt-get install openjdk-7-jdk
 echo "export JAVA_HOME=/usr/lib/jvm/java-7-openjdk-amd64/" >> ~/.bashrc
 ```
+In case the build insists of using Java 8 when using Ubuntu 14.04,
+check and point to the version installed by android-studio:
+```
+cat /opt/android-studio/jre/release
+echo "export JAVA_HOME=/opt/android-studio/jre/" >> ~/.bashrc
+```
 
 Subsequently, download Android Studio from [here](https://developer.android.com/studio/index.html) and unzip (for example) to /opt/android-studio:
 
@@ -136,7 +143,7 @@ source ~/tango_ros_ws/devel/setup.bash
 studio.sh
 ```
 
-After launch, open the Configure -- SDK Manager. From SDK Platforms, install Android 4.4 and 5.1 (API level 19 + 22). From SDK Tools, install `NDK` and `Android SDK Build-Tools 21.1.2`. 
+After launch, open the Configure -- SDK Manager. From SDK Platforms, install Android 4.4 and 5.1 (API level 19 + 22). From SDK Tools, install `NDK` and `Android SDK Build-Tools 21.1.2 + 25.0.2 + 25.0.3`. 
 
 Now extend your PATH variable so that ```ndk-build``` can be executed:
 ```
diff --git a/TangoRosStreamer/build.gradle b/TangoRosStreamer/build.gradle
index 8b0f2d1..1331df9 100644
--- a/TangoRosStreamer/build.gradle
+++ b/TangoRosStreamer/build.gradle
@@ -5,7 +5,10 @@ buildscript {
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:2.1.2'
+        classpath('com.android.tools.build:gradle:2.3.2') {
+            // In case of versions conflict version above wins.
+            force = true
+        }
 
         // NOTE: Do not place your application dependencies here; they belong
         // in the individual module build.gradle files
diff --git a/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp b/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
index f072eca..f8b4bf5 100644
--- a/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
+++ b/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
@@ -172,12 +172,6 @@ void TangoRosNode::onInit() {
   area_description_T_start_of_service_publisher_ =
       node_handle_.advertise<geometry_msgs::TransformStamped>(
           AREA_DESCRIPTION_T_START_OF_SERVICE_TOPIC_NAME, queue_size, latching);
-  point_cloud_publisher_ =
-      node_handle_.advertise<sensor_msgs::PointCloud2>(
-          POINT_CLOUD_TOPIC_NAME, queue_size, latching);
-  laser_scan_publisher_ =
-      node_handle_.advertise<sensor_msgs::LaserScan>(
-          LASER_SCAN_TOPIC_NAME, queue_size, latching);
 
   image_transport_.reset(new image_transport::ImageTransport(node_handle_));
   try {
@@ -187,23 +181,10 @@ void TangoRosNode::onInit() {
     fisheye_rectified_image_publisher_ =
         image_transport_->advertise(FISHEYE_RECTIFIED_IMAGE_TOPIC_NAME,
                                    queue_size, latching);
-    color_camera_publisher_ =
-        image_transport_->advertiseCamera(COLOR_IMAGE_TOPIC_NAME,
-                                          queue_size, latching);
-    color_rectified_image_publisher_ =
-        image_transport_->advertise(COLOR_RECTIFIED_IMAGE_TOPIC_NAME,
-                                   queue_size, latching);
   } catch (const image_transport::Exception& e) {
-    LOG(ERROR) << "Error while creating image transport publishers" << e.what();
+    LOG(ERROR) << "Error while creating fisheye image transport publishers" << e.what();
   }
 
-  mesh_marker_publisher_ =
-      node_handle_.advertise<visualization_msgs::MarkerArray>(
-          COLOR_MESH_TOPIC_NAME, queue_size, latching);
-
-  occupancy_grid_publisher_ = node_handle_.advertise<nav_msgs::OccupancyGrid>(
-      OCCUPANCY_GRID_TOPIC_NAME, queue_size, latching);
-
   get_map_name_service_ = node_handle_.advertiseService<tango_ros_messages::GetMapName::Request,
       tango_ros_messages::GetMapName::Response>(GET_MAP_NAME_SERVICE_NAME,
                                              boost::bind(&TangoRosNode::GetMapNameServiceCallback, this, _1, _2));
@@ -263,6 +244,46 @@ TangoRosNode::~TangoRosNode() {
 }
 
 TangoErrorType TangoRosNode::OnTangoServiceConnected() {
+  const  uint32_t queue_size = 1;
+  const bool latching = true;
+  // Advertise topics that need depth camera and/or color camera only if cameras are enable.
+  if (enable_depth_) {
+    point_cloud_publisher_ =
+        node_handle_.advertise<sensor_msgs::PointCloud2>(
+            POINT_CLOUD_TOPIC_NAME, queue_size, latching);
+    laser_scan_publisher_ =
+        node_handle_.advertise<sensor_msgs::LaserScan>(
+            LASER_SCAN_TOPIC_NAME, queue_size, latching);
+  } else {
+    point_cloud_publisher_.shutdown();
+    laser_scan_publisher_.shutdown();
+  }
+  if (enable_color_camera_) {
+    try {
+      color_camera_publisher_ =
+          image_transport_->advertiseCamera(COLOR_IMAGE_TOPIC_NAME,
+                                            queue_size, latching);
+      color_rectified_image_publisher_ =
+          image_transport_->advertise(COLOR_RECTIFIED_IMAGE_TOPIC_NAME,
+                                      queue_size, latching);
+      } catch (const image_transport::Exception& e) {
+        LOG(ERROR) << "Error while creating color image transport publishers" << e.what();
+      }
+  } else {
+    color_camera_publisher_.shutdown();
+    color_rectified_image_publisher_.shutdown();
+  }
+  if (enable_depth_ && enable_color_camera_) {
+    mesh_marker_publisher_ =
+        node_handle_.advertise<visualization_msgs::MarkerArray>(
+            COLOR_MESH_TOPIC_NAME, queue_size, latching);
+    occupancy_grid_publisher_ = node_handle_.advertise<nav_msgs::OccupancyGrid>(
+        OCCUPANCY_GRID_TOPIC_NAME, queue_size, latching);
+  } else {
+    mesh_marker_publisher_.shutdown();
+    occupancy_grid_publisher_.shutdown();
+  }
+
   TangoCoordinateFramePair pair;
   pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
   pair.target = TANGO_COORDINATE_FRAME_DEVICE;