diff --git a/carla_ros_bridge/launch/carla_ros_bridge.launch b/carla_ros_bridge/launch/carla_ros_bridge.launch
index b4f47fab..e92eb0e1 100644
--- a/carla_ros_bridge/launch/carla_ros_bridge.launch
+++ b/carla_ros_bridge/launch/carla_ros_bridge.launch
@@ -17,6 +17,9 @@
   <!-- set the fixed timestep length -->
   <arg name='fixed_delta_seconds' default='0.05'/>
   <arg name='town' default='Town01'/>
+  <!-- enable/disable the registration of all sensors. If disabled, only sensors
+  spawned by the bridge are registered -->
+  <arg name='register_all_sensors' default='True'/>
   <!-- 
     the role name of the vehicles that acts as ego vehicle for this ros bridge instance
     Only the vehicles within this list are controllable from within ROS.
@@ -32,8 +35,8 @@
     <param name="synchronous_mode" value="$(arg synchronous_mode)"/>
     <param name="synchronous_mode_wait_for_vehicle_control_command" value="$(arg synchronous_mode_wait_for_vehicle_control_command)"/>
     <param name="fixed_delta_seconds" value="$(arg fixed_delta_seconds)"/>
+    <param name="register_all_sensors" value="$(arg register_all_sensors)"/>
     <param name="town" value="$(arg town)"/>
     <param name="ego_vehicle_role_name" value="$(arg ego_vehicle_role_name)"/>
   </node>
-    
 </launch>
diff --git a/carla_ros_bridge/launch/carla_ros_bridge.launch.py b/carla_ros_bridge/launch/carla_ros_bridge.launch.py
index e1d4627a..0492bd86 100644
--- a/carla_ros_bridge/launch/carla_ros_bridge.launch.py
+++ b/carla_ros_bridge/launch/carla_ros_bridge.launch.py
@@ -6,40 +6,54 @@ def generate_launch_description():
     ld = launch.LaunchDescription([
         launch.actions.DeclareLaunchArgument(
             name='host',
-            default_value='localhost'
+            default_value='localhost',
+            description='IP of the CARLA server'
         ),
         launch.actions.DeclareLaunchArgument(
             name='port',
-            default_value='2000'
+            default_value='2000',
+            description='TCP port of the CARLA server'
         ),
         launch.actions.DeclareLaunchArgument(
             name='timeout',
-            default_value='2'
+            default_value='2',
+            description='Time to wait for a successful connection to the CARLA server'
         ),
         launch.actions.DeclareLaunchArgument(
             name='passive',
-            default_value='False'
+            default_value='False',
+            description='When enabled, the ROS bridge will take a backseat and another client must tick the world (only in synchronous mode)'
         ),
         launch.actions.DeclareLaunchArgument(
             name='synchronous_mode',
-            default_value='True'
+            default_value='True',
+            description='Enable/disable synchronous mode. If enabled, the ROS bridge waits until the expected data is received for all sensors'
         ),
         launch.actions.DeclareLaunchArgument(
             name='synchronous_mode_wait_for_vehicle_control_command',
-            default_value='False'
+            default_value='False',
+            description='When enabled, pauses the tick until a vehicle control is completed (only in synchronous mode)'
         ),
         launch.actions.DeclareLaunchArgument(
             name='fixed_delta_seconds',
-            default_value='0.05'
+            default_value='0.05',
+            description='Simulation time (delta seconds) between simulation steps'
         ),
         launch.actions.DeclareLaunchArgument(
             name='town',
-            default_value='Town01'
+            default_value='Town01',
+            description='Either use an available CARLA town (eg. "Town01") or an OpenDRIVE file (ending in .xodr)'
+        ),
+        launch.actions.DeclareLaunchArgument(
+            name='register_all_sensors',
+            default_value='True',
+            description='Enable/disable the registration of all sensors. If disabled, only sensors spawned by the bridge are registered'
         ),
         launch.actions.DeclareLaunchArgument(
             name='ego_vehicle_role_name',
             default_value=["hero", "ego_vehicle", "hero0", "hero1", "hero2",
-                           "hero3", "hero4", "hero5", "hero6", "hero7", "hero8", "hero9"]
+                           "hero3", "hero4", "hero5", "hero6", "hero7", "hero8", "hero9"],
+            description='Role names to identify ego vehicles. '
         ),
         launch_ros.actions.Node(
             package='carla_ros_bridge',
@@ -76,6 +90,9 @@ def generate_launch_description():
                 {
                     'town': launch.substitutions.LaunchConfiguration('town')
                 },
+                {
+                    'register_all_sensors': launch.substitutions.LaunchConfiguration('register_all_sensors')
+                },
                 {
                     'ego_vehicle_role_name': launch.substitutions.LaunchConfiguration('ego_vehicle_role_name')
                 }
diff --git a/carla_ros_bridge/src/carla_ros_bridge/actor_factory.py b/carla_ros_bridge/src/carla_ros_bridge/actor_factory.py
index fa0aed0b..e3b0667e 100755
--- a/carla_ros_bridge/src/carla_ros_bridge/actor_factory.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/actor_factory.py
@@ -56,9 +56,9 @@ class ActorFactory(object):
     TIME_BETWEEN_UPDATES = 0.1
 
     class TaskType(Enum):
-        SPAWN_PSEUDO_ACTOR = 0
-        DESTROY_ACTOR = 1
-        SYNC = 2
+        SPAWN_ACTOR = 0
+        SPAWN_PSEUDO_ACTOR = 1
+        DESTROY_ACTOR = 2
 
     def __init__(self, node, world, sync_mode=False):
         self.node = node
@@ -111,7 +111,8 @@ def update_available_objects(self):
         self.lock.acquire()
         for actor_id in new_actors:
             carla_actor = self.world.get_actor(actor_id)
-            self._create_object_from_actor(carla_actor)
+            if self.node.parameters["register_all_sensors"] or not isinstance(carla_actor, carla.Sensor):
+                self._create_object_from_actor(carla_actor)
 
         for actor_id in deleted_actors:
             self._destroy_object(actor_id, delete_actor=False)
@@ -120,15 +121,16 @@ def update_available_objects(self):
         with self.spawn_lock:
             while not self._task_queue.empty():
                 task = self._task_queue.get()
-                if task[0] == ActorFactory.TaskType.SPAWN_PSEUDO_ACTOR and not self.node.shutdown.is_set():
+                if task[0] == ActorFactory.TaskType.SPAWN_ACTOR and not self.node.shutdown.is_set():
+                    carla_actor = self.world.get_actor(task[1][0])
+                    self._create_object_from_actor(carla_actor)
+                elif task[0] == ActorFactory.TaskType.SPAWN_PSEUDO_ACTOR and not self.node.shutdown.is_set():
                     pseudo_object = task[1]
                     self._create_object(pseudo_object[0], pseudo_object[1].type, pseudo_object[1].id,
                                         pseudo_object[1].attach_to, pseudo_object[1].transform)
                 elif task[0] == ActorFactory.TaskType.DESTROY_ACTOR:
                     actor_id = task[1]
                     self._destroy_object(actor_id, delete_actor=True)
-                elif task[0] == ActorFactory.TaskType.SYNC and not self.node.shutdown.is_set():
-                    break
         self.lock.release()
 
     def update_actor_states(self, frame_id, timestamp):
@@ -167,28 +169,29 @@ def spawn_actor(self, req):
                 self._task_queue.put((ActorFactory.TaskType.SPAWN_PSEUDO_ACTOR, (id_, req)))
             else:
                 id_ = self._spawn_carla_actor(req)
-                self._task_queue.put((ActorFactory.TaskType.SYNC, None))
+                self._task_queue.put((ActorFactory.TaskType.SPAWN_ACTOR, (id_, None)))
             self._known_actor_ids.append(id_)
         return id_
 
     def destroy_actor(self, uid):
-        with self.spawn_lock:
-            objects_to_destroy = set(self._destroy_actor(uid))
-            for obj in objects_to_destroy:
-                self._task_queue.put((ActorFactory.TaskType.DESTROY_ACTOR, obj))
-        return objects_to_destroy
 
-    def _destroy_actor(self, uid):
-        objects_to_destroy = []
-        if uid in self._known_actor_ids:
-            objects_to_destroy.append(uid)
-            self._known_actor_ids.remove(uid)
+        def get_objects_to_destroy(uid):
+            objects_to_destroy = []
+            if uid in self._known_actor_ids:
+                objects_to_destroy.append(uid)
+                self._known_actor_ids.remove(uid)
 
-        # remove actors that have the actor to be removed as parent.
-        for actor in list(self.actors.values()):
-            if actor.parent is not None and actor.parent.uid == uid:
-                objects_to_destroy.extend(self._destroy_actor(actor.uid))
+            # remove actors that have the actor to be removed as parent.
+            for actor in list(self.actors.values()):
+                if actor.parent is not None and actor.parent.uid == uid:
+                    objects_to_destroy.extend(get_objects_to_destroy(actor.uid))
 
+            return objects_to_destroy
+
+        with self.spawn_lock:
+            objects_to_destroy = set(get_objects_to_destroy(uid))
+            for obj in objects_to_destroy:
+                self._task_queue.put((ActorFactory.TaskType.DESTROY_ACTOR, obj))
         return objects_to_destroy
 
     def _spawn_carla_actor(self, req):
diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
index 49111dfb..da618b4f 100755
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -394,6 +394,7 @@ def main(args=None):
         'synchronous_mode_wait_for_vehicle_control_command', False)
     parameters['fixed_delta_seconds'] = carla_bridge.get_param('fixed_delta_seconds',
                                                                0.05)
+    parameters['register_all_sensors'] = carla_bridge.get_param('register_all_sensors', True)
     parameters['town'] = carla_bridge.get_param('town', 'Town01')
     role_name = carla_bridge.get_param('ego_vehicle_role_name',
                                        ["hero", "ego_vehicle", "hero1", "hero2", "hero3"])
diff --git a/docs/run_ros.md b/docs/run_ros.md
index 6a9b11fb..cc9c5934 100644
--- a/docs/run_ros.md
+++ b/docs/run_ros.md
@@ -77,6 +77,10 @@ The following settings are available:
 *  __fixed_delta_seconds__: Simulation time (delta seconds) between simulation steps. __It must be lower than 0.1__. Take a look at the [documentation](https://carla.readthedocs.io/en/latest/adv_synchrony_timestep/) to learn more about this.
 *  __ego_vehicle__: Role names to identify ego vehicles. Relevant topics will be created so these vehicles will be able to be controlled from ROS.
 * __town__: Either use an available CARLA town (eg. 'town01') or an OpenDRIVE file (ending in `.xodr`).
+*  __register_all_sensors__:
+	*  __If false__: Only sensors spawned by the bridge are registered.
+	*  __If true (default)__: All the sensors present in the simulation are registered.
+
 
 [ros_clock]: https://wiki.ros.org/Clock