diff --git a/stretch_calibration/nodes/collect_head_calibration_data b/stretch_calibration/nodes/collect_head_calibration_data
index f2b1356..9beafa2 100755
--- a/stretch_calibration/nodes/collect_head_calibration_data
+++ b/stretch_calibration/nodes/collect_head_calibration_data
@@ -207,7 +207,7 @@ class CollectHeadCalibrationDataNode:
 
                 if timeout:
                     rospy.logerr('collect_head_calibration_data get_samples: timeout while waiting for sample.')
-                    #raise IOError('Timeout')
+                    raise Exception('Timed out waiting for joint_states/accelerations/markers messages after 10 seconds')
 
                 with self.data_lock:
                     #set backlash joint state
diff --git a/stretch_core/launch/d435i_basic.launch b/stretch_core/launch/d435i_basic.launch
index e9ccb91..68f99cc 100644
--- a/stretch_core/launch/d435i_basic.launch
+++ b/stretch_core/launch/d435i_basic.launch
@@ -17,6 +17,7 @@
     <arg name="depth_fps" value="15"/>
     <arg name="enable_infra1" value="false"/>
     <arg name="enable_infra2" value="false"/>
+    <arg name="enable_accel" value="true"/>
 
     <arg name="depth_width" value="$(arg depth_width)"/>
     <arg name="depth_height" value="$(arg depth_height)"/>