diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
index e4399af41..17b49db16 100644
--- a/nebula_ros/CMakeLists.txt
+++ b/nebula_ros/CMakeLists.txt
@@ -228,7 +228,7 @@ if(BUILD_TESTING)
 
     ament_lint_auto_find_test_dependencies()
 
-    foreach(MODEL Pandar40P Pandar64 PandarQT64 PandarQT128 Pandar128E4X PandarAT128 PandarXT16 PandarXT32 PandarXT32M)
+    foreach(MODEL Pandar40P Pandar64 PandarQT64 PandarQT128 Pandar128E4X PandarAT128 PandarXT16 PandarXT32 PandarXT32M Helios Bpearl)
         string(TOLOWER ${MODEL}_smoke_test test_name)
         add_ros_test(
             test/smoke_test.py
diff --git a/nebula_ros/include/nebula_ros/robosense/robosense_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/robosense/robosense_ros_wrapper.hpp
index 2c7e08d00..018382589 100644
--- a/nebula_ros/include/nebula_ros/robosense/robosense_ros_wrapper.hpp
+++ b/nebula_ros/include/nebula_ros/robosense/robosense_ros_wrapper.hpp
@@ -14,7 +14,6 @@
 
 #pragma once
 
-#include "nebula_ros/common/mt_queue.hpp"
 #include "nebula_ros/robosense/decoder_wrapper.hpp"
 #include "nebula_ros/robosense/hw_interface_wrapper.hpp"
 #include "nebula_ros/robosense/hw_monitor_wrapper.hpp"
@@ -84,11 +83,6 @@ class RobosenseRosWrapper final : public rclcpp::Node
 
   std::shared_ptr<const nebula::drivers::RobosenseSensorConfiguration> sensor_cfg_ptr_;
 
-  /// @brief Stores received packets that have not been processed yet by the decoder thread
-  MtQueue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
-  /// @brief Thread to isolate decoding from receiving
-  std::thread decoder_thread_;
-
   rclcpp::Publisher<robosense_msgs::msg::RobosenseInfoPacket>::SharedPtr info_packets_pub_;
 
   rclcpp::Subscription<robosense_msgs::msg::RobosenseScan>::SharedPtr packets_sub_;
diff --git a/nebula_ros/src/robosense/robosense_ros_wrapper.cpp b/nebula_ros/src/robosense/robosense_ros_wrapper.cpp
index 8759431d2..5b873db85 100644
--- a/nebula_ros/src/robosense/robosense_ros_wrapper.cpp
+++ b/nebula_ros/src/robosense/robosense_ros_wrapper.cpp
@@ -24,8 +24,7 @@ namespace nebula::ros
 RobosenseRosWrapper::RobosenseRosWrapper(const rclcpp::NodeOptions & options)
 : rclcpp::Node("robosense_ros_wrapper", rclcpp::NodeOptions(options).use_intra_process_comms(true)),
   wrapper_status_(Status::NOT_INITIALIZED),
-  sensor_cfg_ptr_(nullptr),
-  packet_queue_(3000)
+  sensor_cfg_ptr_(nullptr)
 {
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
@@ -48,13 +47,6 @@ RobosenseRosWrapper::RobosenseRosWrapper(const rclcpp::NodeOptions & options)
 
   RCLCPP_DEBUG(get_logger(), "Starting stream");
 
-  decoder_thread_ = std::thread([this]() {
-    while (true) {
-      if (!decoder_wrapper_) continue;
-      decoder_wrapper_->process_cloud_packet(packet_queue_.pop());
-    }
-  });
-
   if (launch_hw_) {
     info_packets_pub_ =
       create_publisher<robosense_msgs::msg::RobosenseInfoPacket>("robosense_info_packets", 10);
@@ -158,12 +150,16 @@ void RobosenseRosWrapper::receive_scan_message_callback(
     return;
   }
 
+  if (!decoder_wrapper_ || decoder_wrapper_->status() != Status::OK) {
+    return;
+  }
+
   for (auto & pkt : scan_msg->packets) {
     auto nebula_pkt_ptr = std::make_unique<nebula_msgs::msg::NebulaPacket>();
     nebula_pkt_ptr->stamp = pkt.stamp;
     std::copy(pkt.data.begin(), pkt.data.end(), std::back_inserter(nebula_pkt_ptr->data));
 
-    packet_queue_.push(std::move(nebula_pkt_ptr));
+    decoder_wrapper_->process_cloud_packet(std::move(nebula_pkt_ptr));
   }
 }
 
@@ -312,9 +308,7 @@ void RobosenseRosWrapper::receive_cloud_packet_callback(std::vector<uint8_t> & p
   msg_ptr->stamp.nanosec = static_cast<int>(timestamp_ns % 1'000'000'000);
   msg_ptr->data.swap(packet);
 
-  if (!packet_queue_.try_push(std::move(msg_ptr))) {
-    RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
-  }
+  decoder_wrapper_->process_cloud_packet(std::move(msg_ptr));
 }
 
 RCLCPP_COMPONENTS_REGISTER_NODE(RobosenseRosWrapper)
diff --git a/nebula_ros/test/smoke_test.py b/nebula_ros/test/smoke_test.py
index b509ffe59..9eedff48e 100644
--- a/nebula_ros/test/smoke_test.py
+++ b/nebula_ros/test/smoke_test.py
@@ -37,7 +37,7 @@ def generate_test_description():
 class TestCorrectStartup(unittest.TestCase):
     def test_wait_for_startup_then_shutdown(self):
         self.proc_output: launch_testing.ActiveIoHandler
-        self.proc_output.assertWaitFor("Wrapper=OK", timeout=2)
+        self.proc_output.assertWaitFor("Hardware connection disabled", timeout=2)
 
 
 @launch_testing.post_shutdown_test()