diff --git a/requirements.txt b/requirements.txt
index d074fea..045467c 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,123 +1,55 @@
-action-tutorials-py==0.9.4
-ament-copyright==0.9.8
-ament-cppcheck==0.9.8
-ament-cpplint==0.9.8
-ament-flake8==0.9.8
-ament-index-python==1.1.0
-ament-lint==0.9.8
-ament-lint-cmake==0.9.8
-ament-package==0.9.5
-ament-pep257==0.9.8
-ament-uncrustify==0.9.8
-ament-xmllint==0.9.8
-carla==0.9.13
-certifi==2023.7.22
-charset-normalizer==3.2.0
-cmake==3.27.5
+carla==0.9.15
+certifi==2024.2.2
+charset-normalizer==3.3.2
 contourpy==1.1.1
-cycler==0.11.0
-demo-nodes-py==0.9.4
-domain-coordinator==0.9.2
-examples-rclpy-executors==0.9.4
-examples-rclpy-minimal-action-client==0.9.4
-examples-rclpy-minimal-action-server==0.9.4
-examples-rclpy-minimal-client==0.9.4
-examples-rclpy-minimal-publisher==0.9.4
-examples-rclpy-minimal-service==0.9.4
-examples-rclpy-minimal-subscriber==0.9.4
-filelock==3.12.4
-fonttools==4.42.1
-gitdb==4.0.10
-GitPython==3.1.37
-idna==3.4
-importlib-resources==6.1.0
-Jinja2==3.1.2
+cycler==0.12.1
+filelock==3.13.3
+fonttools==4.50.0
+fsspec==2024.3.1
+idna==3.6
+importlib_resources==6.4.0
+Jinja2==3.1.3
 kiwisolver==1.4.5
-launch==0.10.10
-launch-ros==0.11.7
-launch-testing==0.10.10
-launch-testing-ros==0.11.7
-launch-xml==0.10.10
-launch-yaml==0.10.10
-lit==16.0.6
-MarkupSafe==2.1.3
-matplotlib==3.7.3
+MarkupSafe==2.1.5
+matplotlib==3.7.5
 mpmath==1.3.0
 networkx==3.1
-numpy==1.20.3
-nvidia-cublas-cu11==11.10.3.66
-nvidia-cuda-cupti-cu11==11.7.101
-nvidia-cuda-nvrtc-cu11==11.7.99
-nvidia-cuda-runtime-cu11==11.7.99
-nvidia-cudnn-cu11==8.5.0.96
-nvidia-cufft-cu11==10.9.0.58
-nvidia-curand-cu11==10.2.10.91
-nvidia-cusolver-cu11==11.4.0.1
-nvidia-cusparse-cu11==11.7.4.91
-nvidia-nccl-cu11==2.14.3
-nvidia-nvtx-cu11==11.7.91
-opencv-python==4.8.0.76
-osrf-pycommon==0.1.11
-packaging==23.1
+numpy==1.24.4
+nvidia-cublas-cu12==12.1.3.1
+nvidia-cuda-cupti-cu12==12.1.105
+nvidia-cuda-nvrtc-cu12==12.1.105
+nvidia-cuda-runtime-cu12==12.1.105
+nvidia-cudnn-cu12==8.9.2.26
+nvidia-cufft-cu12==11.0.2.54
+nvidia-curand-cu12==10.3.2.106
+nvidia-cusolver-cu12==11.4.5.107
+nvidia-cusparse-cu12==12.1.0.106
+nvidia-nccl-cu12==2.19.3
+nvidia-nvjitlink-cu12==12.4.99
+nvidia-nvtx-cu12==12.1.105
+opencv-python==4.9.0.80
+packaging==24.0
 pandas==2.0.3
-Pillow==10.0.1
+pillow==10.3.0
 pkg_resources==0.0.0
-psutil==5.9.5
-py-cpuinfo==9.0.0
-pygame==2.5.1
-pyparsing==3.1.1
-python-dateutil==2.8.2
-pytz==2023.3.post1
+psutil==5.9.8
+pygame==2.5.2
+pyparsing==3.1.2
+python-dateutil==2.9.0.post0
+pytz==2024.1
 PyYAML==6.0.1
-quality-of-service-demo-py==0.9.4
 requests==2.31.0
-ros2action==0.9.13
-ros2bag==0.3.11
-ros2cli==0.9.13
-ros2component==0.9.13
-ros2doctor==0.9.13
-ros2interface==0.9.13
-ros2launch==0.11.7
-ros2lifecycle==0.9.13
-ros2multicast==0.9.13
-ros2node==0.9.13
-ros2param==0.9.13
-ros2pkg==0.9.13
-ros2run==0.9.13
-ros2service==0.9.13
-ros2topic==0.9.13
-rosidl-runtime-py==0.9.1
-rpyutils==0.2.0
-rqt-action==1.0.2
-rqt-console==1.1.2
-rqt-graph==1.1.3
-rqt-gui==1.1.2
-rqt-gui-py==1.1.2
-rqt-msg==1.1.1
-rqt-plot==1.1.1
-rqt-publisher==1.3.0
-rqt-py-console==1.0.2
-rqt-reconfigure==1.0.8
-rqt-service-caller==1.0.5
-rqt-shell==1.0.2
-rqt-srv==1.0.3
-rqt-top==1.0.2
-rqt-topic==1.3.0
 scipy==1.10.1
-seaborn==0.12.2
-shapely==2.0.1
+seaborn==0.13.2
+shapely==2.0.3
 six==1.16.0
-smmap==5.0.1
-sros2==0.9.5
 sympy==1.12
-teleop-twist-keyboard==2.3.2
-thop==0.1.1.post2209072238
-topic-monitor==0.9.4
-torch==1.13.0
-torchvision==0.14.0
-tqdm==4.66.1
-triton==2.0.0
-typing_extensions==4.8.0
-tzdata==2023.3
-urllib3==2.0.5
-zipp==3.17.0
\ No newline at end of file
+torch==2.2.2
+torchaudio==2.2.2
+torchvision==0.17.2
+tqdm==4.66.2
+triton==2.2.0
+typing_extensions==4.10.0
+tzdata==2024.1
+urllib3==2.2.1
+zipp==3.18.1
diff --git a/src/main.py b/src/main.py
index 80c8088..354a169 100644
--- a/src/main.py
+++ b/src/main.py
@@ -156,7 +156,7 @@ def run_simulation(clnt, params, sync=True):
             if (args.connected_mobility and ped_device.deceleration > 0.0) or (ego_velocity < 0.1 and braking):
                 # Make the pedestrian stop.
                 pedestrian_control.speed = 0.0
-                if not switched_img:
+                if not switched_img and args.connected_mobility and ped_device.deceleration > 0.0:
                     ped_cam.switch_img()
                     switched_img = True
             elif pedestrian.get_location().x >= -3.8: