diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr.yaml
new file mode 100644
index 00000000..70e4ad46
--- /dev/null
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr.yaml
@@ -0,0 +1,11 @@
+camera_topics:
+  front:
+    image_topic: "/hdr_camera/image_raw"
+    info_topic: "/hdr_camera/camera_info"
+    use_for_training: true
+    publish_confidence: true
+    publish_input_image: true
+
+# Provides 1080 (height) x 1920 (width) images
+network_input_image_height: 448 # 448
+network_input_image_width: 448 # 448
\ No newline at end of file
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr_compressed.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr_compressed.yaml
new file mode 100644
index 00000000..3f8108ca
--- /dev/null
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr_compressed.yaml
@@ -0,0 +1,11 @@
+camera_topics:
+  front:
+    image_topic: "/hdr_camera/image_raw/compressed"
+    info_topic: "/hdr_camera/camera_info"
+    use_for_training: true
+    publish_confidence: true
+    publish_input_image: true
+
+# Provides 1080 (height) x 1920 (width) images
+network_input_image_height: 448 # 448
+network_input_image_width: 448 # 448
\ No newline at end of file
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr_resize.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr_resize.yaml
new file mode 100644
index 00000000..7ae64fd7
--- /dev/null
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr_resize.yaml
@@ -0,0 +1,11 @@
+camera_topics:
+  front:
+    image_topic: "/hdr_camera/image_raw_resize"
+    info_topic: "/hdr_camera_resize/camera_info"
+    use_for_training: true
+    publish_confidence: true
+    publish_input_image: true
+
+# Provides 1080 (height) x 1920 (width) images
+network_input_image_height: 224 # 448
+network_input_image_width: 224 # 448
\ No newline at end of file
diff --git a/wild_visual_navigation_ros/launch/resize_images_hdr.launch b/wild_visual_navigation_ros/launch/resize_images_hdr.launch
new file mode 100644
index 00000000..2fee1efb
--- /dev/null
+++ b/wild_visual_navigation_ros/launch/resize_images_hdr.launch
@@ -0,0 +1,14 @@
+<launch>
+  <!-- Launch the image_proc nodelet -->
+  <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
+  <node pkg="nodelet" type="nodelet" name="image_proc_nodelet_hdr" args="load image_proc/resize standalone_nodelet">
+    <remap from="camera_info" to="/hdr_camera/camera_info" />
+    <remap from="~camera_info" to="/hdr_camera_resize/camera_info" />
+    <remap from="image" to="/hdr_camera/image_color" />
+    <remap from="~image" to="/hdr_camera/image_color_resize" />
+    <param name="scale_width" value="0.2074077" />
+    <param name="scale_height" value="0.2074077" />
+  </node>
+  <node name="dynparam_width_hdr" pkg="dynamic_reconfigure" type="dynparam" args="set /image_proc_nodelet_hdr scale_width 0.2074077" />
+  <node name="dynparam_height_hdr" pkg="dynamic_reconfigure" type="dynparam" args="set /image_proc_nodelet_hdr scale_height 0.2074077" />
+</launch>
\ No newline at end of file
diff --git a/wild_visual_navigation_ros/launch/wild_visual_navigation.launch b/wild_visual_navigation_ros/launch/wild_visual_navigation.launch
index eb54910f..5a9a1091 100644
--- a/wild_visual_navigation_ros/launch/wild_visual_navigation.launch
+++ b/wild_visual_navigation_ros/launch/wild_visual_navigation.launch
@@ -1,11 +1,12 @@
 <launch>
   <!-- Arguments -->
-  <arg name="camera"            default="wide_angle_front"/> <!-- alphasense, wide_angle_front, realsense_front, realsense_rear -->
+  <arg name="camera"            default="hdr"/> <!-- alphasense, wide_angle_front, realsense_front, realsense_rear, hdr -->
   <arg name="stack"             default="anybotics"/> <!-- rsl or anybotics  $(eval arg('camera') == 'wide_angle_front_resize')  $(eval arg('camera') == 'alphasense_resize') -->  
   <arg name="params_file"       default="$(find wild_visual_navigation_ros)/config/wild_visual_navigation/default.yaml"/>
   <arg name="overlay_images"    default="True"/>
   <arg name="resize_images_alphasense"     default="False"/>
-  <arg name="resize_images_wide_angle_front"     default="True"/>
+  <arg name="resize_images_wide_angle_front"     default="False"/>
+  <arg name="resize_images_hdr"     default="True"/>
   <arg name="reload_default_params"    default="False"/>
 
   <!-- Load parameters -->
@@ -30,7 +31,8 @@
   </node>
 
   <include if="$(arg resize_images_alphasense)" file="$(find wild_visual_navigation_ros)/launch/resize_images_alphasense.launch"/> 
-  <include if="$(arg resize_images_wide_angle_front)" file="$(find wild_visual_navigation_ros)/launch/resize_images_wide_angle_front.launch"/> 
+  <include if="$(arg resize_images_wide_angle_front)" file="$(find wild_visual_navigation_ros)/launch/resize_images_wide_angle_front.launch"/>
+  <include if="$(arg resize_images_hdr)" file="$(find wild_visual_navigation_ros)/launch/resize_images_hdr.launch"/>
 
   <!-- Nice visualization overlay-->
   <include if="$(arg overlay_images)" file="$(find wild_visual_navigation_ros)/launch/overlay_images.launch"/>