diff --git a/config/convert_rosbag2_to_non_annotated_t4_sample.yaml b/config/convert_rosbag2_to_non_annotated_t4_sample.yaml
index 636e6b94..4b09f55a 100644
--- a/config/convert_rosbag2_to_non_annotated_t4_sample.yaml
+++ b/config/convert_rosbag2_to_non_annotated_t4_sample.yaml
@@ -15,19 +15,19 @@ conversion:
   camera_sensors: #  Keep the same order as each camera exposure timing
     - topic: /sensing/camera/camera3/image_rect_color/compressed
       channel: CAM_BACK_LEFT
-      delay_msec: 28.33
+      delay_msec: 48.33
     - topic: /sensing/camera/camera2/image_rect_color/compressed
       channel: CAM_FRONT_LEFT
-      delay_msec: 45.0
+      delay_msec: 65.0
     - topic: /sensing/camera/camera0/image_rect_color/compressed
       channel: CAM_FRONT
-      delay_msec: 61.67
+      delay_msec: 81.67
     - topic: /sensing/camera/camera4/image_rect_color/compressed
       channel: CAM_FRONT_RIGHT
-      delay_msec: 78.33
+      delay_msec: 98.33
     - topic: /sensing/camera/camera5/image_rect_color/compressed
       channel: CAM_BACK_RIGHT
-      delay_msec: 95.0
+      delay_msec: 115.0
     - topic: /sensing/camera/camera1/image_rect_color/compressed
       channel: CAM_BACK
-      delay_msec: 111.67
+      delay_msec: 131.67
diff --git a/config/convert_rosbag2_to_non_annotated_t4_with_radar_sample.yaml b/config/convert_rosbag2_to_non_annotated_t4_with_radar_sample.yaml
index 7197b140..468059c4 100644
--- a/config/convert_rosbag2_to_non_annotated_t4_with_radar_sample.yaml
+++ b/config/convert_rosbag2_to_non_annotated_t4_with_radar_sample.yaml
@@ -24,17 +24,22 @@ conversion:
       channel: RADAR_BACK_LEFT
     - topic: /sensing/radar/rear_right/objects_raw
       channel: RADAR_BACK_RIGHT
-  camera_latency_sec: 0.02 # camera latency in seconds between the header.stamp and the exposure trigger
   camera_sensors: #  Keep the same order as each camera exposure timing
     - topic: /sensing/camera/camera3/image_rect_color/compressed
       channel: CAM_BACK_LEFT
+      delay_msec: 48.33
     - topic: /sensing/camera/camera2/image_rect_color/compressed
       channel: CAM_FRONT_LEFT
+      delay_msec: 65.0
     - topic: /sensing/camera/camera0/image_rect_color/compressed
       channel: CAM_FRONT
+      delay_msec: 81.67
     - topic: /sensing/camera/camera4/image_rect_color/compressed
       channel: CAM_FRONT_RIGHT
+      delay_msec: 98.33
     - topic: /sensing/camera/camera5/image_rect_color/compressed
       channel: CAM_BACK_RIGHT
+      delay_msec: 115.0
     - topic: /sensing/camera/camera1/image_rect_color/compressed
       channel: CAM_BACK
+      delay_msec: 131.67
diff --git a/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py b/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
index d9efff54..bea39349 100644
--- a/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
+++ b/perception_dataset/rosbag2/rosbag2_to_non_annotated_t4_converter.py
@@ -349,10 +349,7 @@ def _convert_sensor_data(
             # temporaly use start_timestamp instead of recorded timestamp for non synced data
             camera_start_timestamp = start_timestamp
         else:
-            camera_start_timestamp = (
-                misc_utils.nusc_timestamp_to_unix_timestamp(first_sample_data_record.timestamp)
-                # + self._camera_latency
-            )
+            camera_start_timestamp = misc_utils.nusc_timestamp_to_unix_timestamp(first_sample_data_record.timestamp)
 
         for camera_sensor in self._camera_sensors:
             sensor_channel = camera_sensor["channel"]
diff --git a/tests/config/convert_rosbag2_to_non_annotated_t4.yaml b/tests/config/convert_rosbag2_to_non_annotated_t4.yaml
index c5061d18..766ce31f 100644
--- a/tests/config/convert_rosbag2_to_non_annotated_t4.yaml
+++ b/tests/config/convert_rosbag2_to_non_annotated_t4.yaml
@@ -14,19 +14,19 @@ conversion:
   camera_sensors: #  Keep the same order as each camera exposure timing
     - topic: /sensing/camera/camera3/image_rect_color/compressed
       channel: CAM_BACK_LEFT
-      delay_msec: 28.33
+      delay_msec: 48.33
     - topic: /sensing/camera/camera2/image_rect_color/compressed
       channel: CAM_FRONT_LEFT
-      delay_msec: 45.0
+      delay_msec: 65.0
     - topic: /sensing/camera/camera0/image_rect_color/compressed
       channel: CAM_FRONT
-      delay_msec: 61.67
+      delay_msec: 81.67
     - topic: /sensing/camera/camera4/image_rect_color/compressed
       channel: CAM_FRONT_RIGHT
-      delay_msec: 78.33
+      delay_msec: 98.33
     - topic: /sensing/camera/camera5/image_rect_color/compressed
       channel: CAM_BACK_RIGHT
-      delay_msec: 95.0
+      delay_msec: 115.0
     - topic: /sensing/camera/camera1/image_rect_color/compressed
       channel: CAM_BACK
-      delay_msec: 111.67
+      delay_msec: 131.67