diff --git a/carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch b/carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch
index 3ce9dedb..4949e6ff 100644
--- a/carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch
+++ b/carla_ros_bridge/launch/carla_ros_bridge_with_example_ego_vehicle.launch
@@ -11,7 +11,7 @@
   <arg name="spawn_point" default=""/><!-- use comma separated format "x,y,z,roll,pitch,yaw" -->
 
   <!-- Map to load on startup (either a predefined CARLA town (e.g. 'Town01'), or a OpenDRIVE map file) -->
-  <arg name="town" default=''/>
+  <arg name="town" default='Town05'/>
 
   <!-- Enable/disable passive mode -->
   <arg name='passive' default=''/>
diff --git a/carla_ros_bridge/src/carla_ros_bridge/bridge.py b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
index 9e34f499..03a73169 100755
--- a/carla_ros_bridge/src/carla_ros_bridge/bridge.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/bridge.py
@@ -18,7 +18,7 @@
 except ImportError:
     import Queue as queue
 import sys
-from distutils.version import LooseVersion
+from packaging.version import Version
 from threading import Thread, Lock, Event
 
 import carla
@@ -413,13 +413,12 @@ def main(args=None):
 
         # check carla version
         dist = pkg_resources.get_distribution("carla")
-        if LooseVersion(dist.version) != LooseVersion(CarlaRosBridge.CARLA_VERSION):
+        if Version(dist.version).release[0] != Version(CarlaRosBridge.CARLA_VERSION).release[0]:
             carla_bridge.logfatal("CARLA python module version {} required. Found: {}".format(
                 CarlaRosBridge.CARLA_VERSION, dist.version))
             sys.exit(1)
 
-        if LooseVersion(carla_client.get_server_version()) != \
-           LooseVersion(carla_client.get_client_version()):
+        if Version(carla_client.get_server_version()) != Version(carla_client.get_client_version()):
             carla_bridge.logwarn(
                 "Version mismatch detected: You are trying to connect to a simulator that might be incompatible with this API. Client API version: {}. Simulator API version: {}"
                 .format(carla_client.get_client_version(),
diff --git a/carla_ros_bridge/src/carla_ros_bridge/sensor.py b/carla_ros_bridge/src/carla_ros_bridge/sensor.py
index 1bdd36c3..81e8858c 100644
--- a/carla_ros_bridge/src/carla_ros_bridge/sensor.py
+++ b/carla_ros_bridge/src/carla_ros_bridge/sensor.py
@@ -202,14 +202,15 @@ def sensor_data_updated(self, carla_sensor_data):
             "This function has to be implemented by the derived classes")
 
     def _update_synchronous_event_sensor(self, frame, timestamp):
+        buffer_size = 5
         while True:
             try:
                 carla_sensor_data = self.queue.get(block=False)
-                if carla_sensor_data.frame != frame:
-                    self.node.logwarn("{}({}): Received event for frame {}"
-                                      " (expected {}). Process it anyways.".format(
-                                          self.__class__.__name__, self.get_id(),
-                                          carla_sensor_data.frame, frame))
+                frame_difference = abs(carla_sensor_data.frame - frame)
+                if frame_difference > buffer_size:
+                    self.node.logwarn("{}({}): Received event for frame {} (expected {}). Process it anyways.".format(
+                        self.__class__.__name__, self.get_id(),
+                        carla_sensor_data.frame, frame))
                 self.node.logdebug("{}({}): process {}".format(
                     self.__class__.__name__, self.get_id(), frame))
                 self.publish_tf(trans.carla_transform_to_ros_pose(