diff --git a/src/sherpa/launch/pointcloud-vlp16.py b/src/sherpa/launch/pointcloud-vlp16.py
index e0d5bea..1dc7e89 100755
--- a/src/sherpa/launch/pointcloud-vlp16.py
+++ b/src/sherpa/launch/pointcloud-vlp16.py
@@ -15,7 +15,7 @@ def generate_launch_description():
     velodyne_raw = Node(
         package='velodyne_driver',
         executable='velodyne_driver_node',
-        arguments=["--ros-args", "-p", "model:=VLP16", "-p", "rpm:=600.0", "-p", "device_ip:=10.42.30.200"]
+        arguments=["--ros-args", "-p", "model:=VLP16", "-p", "rpm:=600.0", "-p", "device_ip:=10.42.200.201"]
     )
 
     velodyne_pointcloud = Node(
diff --git a/src/sherpa/package.xml b/src/sherpa/package.xml
index 2f9d935..9820b4f 100644
--- a/src/sherpa/package.xml
+++ b/src/sherpa/package.xml
@@ -25,11 +25,8 @@
   <depend>gazebo_msgs</depend>
   <depend>ros_gz_bridge</depend>
 
-  <!-- Dependencies for slam -->
-  <depend>velodyne_driver</depend>
-  <depend>velodyne_pointcloud</depend>
-  <depend>witmotion_ros</depend>
-  <depend>fast_lio</depend>
+  <!-- Internal dependencies -->
+  <depend>sherpa_lidar_utils</depend>
 
   <export>
     <build_type>ament_cmake</build_type>