diff --git a/aruco/cfg/ArucoThreshold.cfg b/aruco/cfg/ArucoThreshold.cfg
deleted file mode 100755
index 5d467de..0000000
--- a/aruco/cfg/ArucoThreshold.cfg
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "aruco_ros"
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("param1", int_t, 0, "blockSize parameter of cv::adaptiveThreshold", 4, 1, 15)
-gen.add("param2", int_t, 0, "C parameter of cv::adaptiveThreshold", 8, 1, 15)
-gen.add("normalizeImage", bool_t, 0, "normalizeImage", True)
-gen.add("dctComponentsToRemove", int_t, 0, "DCT components to remove", 2, 1, 4)
-gen.add("degree", int_t, 0, "Degree to rotate", 0, 0, 360)
-
-exit(gen.generate(PACKAGE, "double", "ArucoThreshold"))
diff --git a/aruco_ros/src/marker_publish.cpp b/aruco_ros/src/marker_publish.cpp
index 4476d4d..6f32a21 100644
--- a/aruco_ros/src/marker_publish.cpp
+++ b/aruco_ros/src/marker_publish.cpp
@@ -85,8 +85,6 @@ class ArucoMarkerPublisher
     , it_(nh_)
     , useCamInfo_(true)
   {
-    image_sub_ = it_.subscribe("/image", 1, &ArucoMarkerPublisher::image_callback, this);
-
     nh_.param<bool>("use_camera_info", useCamInfo_, true);
     if(useCamInfo_)
     {
@@ -113,6 +111,8 @@ class ArucoMarkerPublisher
     marker_msg_ = aruco_msgs::MarkerArray::Ptr(new aruco_msgs::MarkerArray());
     marker_msg_->header.frame_id = reference_frame_;
     marker_msg_->header.seq = 0;
+    
+    image_sub_ = it_.subscribe("/image", 1, &ArucoMarkerPublisher::image_callback, this);
   }
 
   bool getTransform(const std::string& refFrame,
diff --git a/aruco_ros/src/simple_double.cpp b/aruco_ros/src/simple_double.cpp
index bbfc358..ea5f855 100644
--- a/aruco_ros/src/simple_double.cpp
+++ b/aruco_ros/src/simple_double.cpp
@@ -251,9 +251,6 @@ int main(int argc,char **argv)
   nh.param<bool>("image_is_rectified", useRectifiedImages, true);
   ROS_INFO_STREAM("Image is rectified: " << useRectifiedImages);
 
-  image_transport::Subscriber image_sub = it.subscribe("/image", 1, &image_callback);
-  cam_info_sub = nh.subscribe("/camera_info", 1, &cam_info_callback);
-
   cam_info_received = false;
   image_pub = it.advertise("result", 1);
   debug_pub = it.advertise("debug", 1);
@@ -276,6 +273,9 @@ int main(int argc,char **argv)
     ROS_ERROR("parent_name and/or child_name was not set!");
     return -1;
   }
+  
+  image_transport::Subscriber image_sub = it.subscribe("/image", 1, &image_callback);
+  cam_info_sub = nh.subscribe("/camera_info", 1, &cam_info_callback);
 
   ROS_INFO("Aruco node started with marker size of %f meters and marker ids to track: %d, %d",
            marker_size, marker_id1, marker_id2);
diff --git a/aruco_ros/src/simple_single.cpp b/aruco_ros/src/simple_single.cpp
index b1a131c..995d4b6 100644
--- a/aruco_ros/src/simple_single.cpp
+++ b/aruco_ros/src/simple_single.cpp
@@ -83,15 +83,6 @@ class ArucoSimple
       nh("~"),
       it(nh)
   {
-    image_sub = it.subscribe("/image", 1, &ArucoSimple::image_callback, this);
-    cam_info_sub = nh.subscribe("/camera_info", 1, &ArucoSimple::cam_info_callback, this);
-
-    image_pub = it.advertise("result", 1);
-    debug_pub = it.advertise("debug", 1);
-    pose_pub = nh.advertise<geometry_msgs::PoseStamped>("pose", 100);
-    transform_pub = nh.advertise<geometry_msgs::TransformStamped>("transform", 100);
-    position_pub = nh.advertise<geometry_msgs::Vector3Stamped>("position", 100);
-
     nh.param<double>("marker_size", marker_size, 0.05);
     nh.param<int>("marker_id", marker_id, 300);
     nh.param<std::string>("reference_frame", reference_frame, "");
@@ -103,6 +94,15 @@ class ArucoSimple
 
     if ( reference_frame.empty() )
       reference_frame = camera_frame;
+    
+    image_pub = it.advertise("result", 1);
+    debug_pub = it.advertise("debug", 1);
+    pose_pub = nh.advertise<geometry_msgs::PoseStamped>("pose", 100);
+    transform_pub = nh.advertise<geometry_msgs::TransformStamped>("transform", 100);
+    position_pub = nh.advertise<geometry_msgs::Vector3Stamped>("position", 100);
+    
+    image_sub = it.subscribe("/image", 1, &ArucoSimple::image_callback, this);
+    cam_info_sub = nh.subscribe("/camera_info", 1, &ArucoSimple::cam_info_callback, this);
 
     ROS_INFO("Aruco node started with marker size of %f m and marker id to track: %d",
              marker_size, marker_id);