diff --git a/source/RobotAPI/libraries/armem_laser_scans/server/Visu.cpp b/source/RobotAPI/libraries/armem_laser_scans/server/Visu.cpp
index 3a6b41000bb7abb1179438bda39c3a414df15fa2..f3bdf805588e8b19e5cb7e616f464564c58429ba 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/server/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_laser_scans/server/Visu.cpp
@@ -299,8 +299,8 @@ namespace armarx::armem::server::laser_scans
         }
 
         ARMARX_CHECK_NOT_NULL(virtualRobotReader);
-        const auto robot = virtualRobotReader->getSynchronizedRobot(name, timestamp, 
-        VirtualRobot::RobotIO::RobotDescription::eStructure,false);
+        const auto robot = virtualRobotReader->getRobot(name, timestamp, 
+        VirtualRobot::RobotIO::RobotDescription::eStructure);
 
         if(robot)
         {
@@ -310,6 +310,11 @@ namespace armarx::armem::server::laser_scans
             return nullptr;
         }
 
+        if(not virtualRobotReader->synchronizeRobot(*robot, timestamp))
+        {
+            ARMARX_INFO << "Faield to synchronize robot `" << name << "`";
+        }
+
         return robots.at(name);
     }
 
diff --git a/source/RobotAPI/libraries/armem_laser_scans/server/Visu.h b/source/RobotAPI/libraries/armem_laser_scans/server/Visu.h
index 0cfd90016e0eb31fba4298c7cd0164b5e57051cb..23b040637d98c2ac1af0a300e9d29fc772c206dc 100644
--- a/source/RobotAPI/libraries/armem_laser_scans/server/Visu.h
+++ b/source/RobotAPI/libraries/armem_laser_scans/server/Visu.h
@@ -69,7 +69,7 @@ namespace armarx::armem::server::laser_scans
         {
             bool enabled = true;
             bool uniformColor = false;
-            float frequencyHz = 25;
+            float frequencyHz = 5;
         } p;