diff --git a/src/avt_vimba_camera.cpp b/src/avt_vimba_camera.cpp
index 0096dfb7..d06f597d 100644
--- a/src/avt_vimba_camera.cpp
+++ b/src/avt_vimba_camera.cpp
@@ -952,21 +952,22 @@ void AvtVimbaCamera::updateGainConfig(Config& config) {
   if (config.gain_auto_min != config_.gain_auto_min || on_init_) {
     changed = true;
     setFeatureValue("GainAutoMin",
-                    static_cast<VmbInt64_t>(config.gain_auto_min));
+                    static_cast<float>(config.gain_auto_min));
   }
   if (config.gain_auto_outliers != config_.gain_auto_outliers || on_init_) {
     changed = true;
-    setFeatureValue("GainAutoMin",
+    setFeatureValue("GainAutoOutliers",
                     static_cast<VmbInt64_t>(config.gain_auto_outliers));
   }
   if (config.gain_auto_rate != config_.gain_auto_rate || on_init_) {
     changed = true;
-    setFeatureValue("GainAutoOutliers",
+    setFeatureValue("GainAutoRate",
                     static_cast<VmbInt64_t>(config.gain_auto_rate));
   }
   if (config.gain_auto_target != config_.gain_auto_target || on_init_) {
     changed = true;
-    setFeatureValue("GainAutoRate", static_cast<VmbInt64_t>(config.gain_auto_target));
+    setFeatureValue("GainAutoTarget",
+                    static_cast<VmbInt64_t>(config.gain_auto_target));
   }
   if(changed && show_debug_prints_){
     ROS_INFO_STREAM("New Gain config (" << config.frame_id << ") : "
@@ -1096,26 +1097,26 @@ void AvtVimbaCamera::updateROIConfig(Config& config) {
   width    = right_x  - offset_x;
   height   = bottom_y - offset_y;
 
-  config.width  = width/binning_or_decimation_x;
-  config.height = height/binning_or_decimation_y;
+  config.roi_width  = width/binning_or_decimation_x;
+  config.roi_height = height/binning_or_decimation_y;
   config.roi_offset_x = offset_x/binning_or_decimation_x;
   config.roi_offset_y = offset_y/binning_or_decimation_y;
 
-  if (config.roi_offset_x != config_.roi_offset_x || on_init_) {
+  if (config.roi_width != config_.roi_width || on_init_) {
     changed = true;
-    setFeatureValue("OffsetX", static_cast<VmbInt64_t>(config.roi_offset_x));
+    setFeatureValue("Width", static_cast<VmbInt64_t>(config.roi_width));
   }
-  if (config.roi_offset_y != config_.roi_offset_y || on_init_) {
+  if (config.roi_height != config_.roi_height || on_init_) {
     changed = true;
-    setFeatureValue("OffsetY", static_cast<VmbInt64_t>(config.roi_offset_y));
+    setFeatureValue("Height", static_cast<VmbInt64_t>(config.roi_height));
   }
-  if (config.width != config_.width || on_init_) {
+  if (config.roi_offset_x != config_.roi_offset_x || on_init_) {
     changed = true;
-    setFeatureValue("Width", static_cast<VmbInt64_t>(config.width));
+    setFeatureValue("OffsetX", static_cast<VmbInt64_t>(config.roi_offset_x));
   }
-  if (config.height != config_.height || on_init_) {
+  if (config.roi_offset_y != config_.roi_offset_y || on_init_) {
     changed = true;
-    setFeatureValue("Height", static_cast<VmbInt64_t>(config.height));
+    setFeatureValue("OffsetY", static_cast<VmbInt64_t>(config.roi_offset_y));
   }
 
   if(changed && show_debug_prints_){