diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
index 977925553..51e315a99 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -196,7 +196,7 @@ void ACarlaGameModeBase::BeginPlay()
   // OnBeginFrame
   // OnEndFrame
   CaptureAtlasDelegate = FCoreDelegates::OnEndFrame.AddUObject(this, &ACarlaGameModeBase::CaptureAtlas);
-  SendAtlasDelegate = FCoreDelegates::OnEndFrame.AddUObject(this, &ACarlaGameModeBase::SendAtlas);
+  // SendAtlasDelegate = FCoreDelegates::OnEndFrame.AddUObject(this, &ACarlaGameModeBase::SendAtlas);
 
 }
 
@@ -433,11 +433,18 @@ void ACarlaGameModeBase::CaptureAtlas()
 
   if(!SceneCaptureSensors.Num()) return;
 
+  // Be sure that the atlas texture is ready
   if(!IsAtlasTextureValid)
   {
     CreateAtlasTextures();
   }
 
+  // Enqueue the commands to copy the captures to the atlas
+  for(ASceneCaptureSensor* Sensor : SceneCaptureSensors)
+  {
+    Sensor->CopyTextureToAtlas();
+  }
+
   //if (!AtlasCopyRequestQueue.IsEmpty())
   //{
   //  UE_LOG(LogCarla, Error, TEXT("ACarlaGameModeBase::CaptureAtlas: request full"));
@@ -448,12 +455,12 @@ void ACarlaGameModeBase::CaptureAtlas()
   FAtlasCopyRequest* AtlasCopyRequest = GetAtlasCopyRequest();
   AtlasCopyRequest->ResizeBuffer(AtlasTextureWidth, AtlasTextureHeight);
 
+  // Download Atlas texture
   ENQUEUE_RENDER_COMMAND(ACarlaGameModeBase_CaptureAtlas)
   (
     [This, &CurrentAtlasPixels = AtlasCopyRequest->AtlasImage](FRHICommandListImmediate& RHICmdList) mutable
     {
       FTexture2DRHIRef AtlasTexture = This->CamerasAtlasTexture[This->PreviousAtlas];
-      //TArray<FColor>& CurrentAtlasPixels = This->AtlasPixels[This->CurrentAtlas];
 
       if (!AtlasTexture)
       {
@@ -461,8 +468,6 @@ void ACarlaGameModeBase::CaptureAtlas()
         return;
       }
 
-      // Download Atlas texture
-
       FIntRect Rect = FIntRect(0, 0, This->AtlasTextureWidth, This->AtlasTextureHeight);
 
 #if !UE_BUILD_SHIPPING
@@ -470,7 +475,6 @@ void ACarlaGameModeBase::CaptureAtlas()
         Rect = FIntRect(0, 0, This->SurfaceW, This->SurfaceH);
       }
 #endif
-
       // GDynamicRHI->RHIReadSurfaceData(AtlasTexture, Rect, CurrentAtlasPixels, FReadSurfaceDataFlags(RCM_UNorm, CubeFace_MAX));
 
 #if !UE_BUILD_SHIPPING
@@ -484,16 +488,17 @@ void ACarlaGameModeBase::CaptureAtlas()
         CurrentAtlasPixels,
         FReadSurfaceDataFlags(RCM_UNorm, CubeFace_MAX));
 
-
-        This->PreviousAtlas = This->CurrentAtlas;
-        This->CurrentAtlas = (This->CurrentAtlas + 1) & ~kMaxNumTextures;
+        // This->PreviousAtlas = This->CurrentAtlas;
+        // This->CurrentAtlas = (This->CurrentAtlas + 1) & ~kMaxNumTextures;
     }
   );
 
-  // AtlasCopyRequest->Start();
+  AtlasCopyRequest->Start();
   // AtlasCopyRequest->Wait();
   AtlasCopyRequestQueue.Enqueue(AtlasCopyRequest);
 
+  SendAtlas();
+
 }
 
 void ACarlaGameModeBase::SendAtlas()
@@ -505,7 +510,7 @@ void ACarlaGameModeBase::SendAtlas()
 
     // Be sure that the request has finished
     
-    if(AtlasCopyRequest /* && AtlasCopyRequest->IsComplete() */ )
+    if( AtlasCopyRequest && AtlasCopyRequest->IsComplete() )
     {
       //UE_LOG(LogCarla, Warning, TEXT("ACarlaGameModeBase::SendAtlas: DONE"));
 #if !UE_BUILD_SHIPPING
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
index b608a95db..6501d6481 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
@@ -100,10 +100,6 @@ public:
     return IsAtlasTextureValid;
   }
 
-  const TArray<FColor>& GetCurrentAtlasPixels() const{
-    return AtlasPixels[CurrentAtlas];
-  }
-
   FTexture2DRHIRef GetCurrentCamerasAtlasTexture() const{
     return CamerasAtlasTexture[CurrentAtlas];
   }
@@ -229,7 +225,6 @@ private:
   TQueue<FAtlasCopyRequest*> AtlasCopyRequestsQueuePool;
 
   static const uint32 kMaxNumTextures = 2u; // This has to be POT
-  TArray<FColor> AtlasPixels[kMaxNumTextures]; // TODO: remove
   TArray<ASceneCaptureSensor*> SceneCaptureSensors;
   FTexture2DRHIRef CamerasAtlasTexture[kMaxNumTextures];
   uint32 AtlasTextureWidth = 0u;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp
index c2b8ba928..c3008831f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp
@@ -484,7 +484,7 @@ void ASceneCaptureSensor::BeginPlay()
 
   Super::BeginPlay();
 
-  CopyTextureDelegate = FCoreDelegates::OnEndFrameRT.AddUObject(this, &ASceneCaptureCamera::CopyTextureToAtlas);
+  //CopyTextureDelegate = FCoreDelegates::OnEndFrame.AddUObject(this, &ASceneCaptureCamera::CopyTextureToAtlas);
 
   ACarlaGameModeBase* GameMode = Cast<ACarlaGameModeBase>(GetWorld()->GetAuthGameMode());
   GameMode->AddSceneCaptureSensor(this);
@@ -513,24 +513,11 @@ void ASceneCaptureSensor::EndPlay(const EEndPlayReason::Type EndPlayReason)
   Super::EndPlay(EndPlayReason);
   SCENE_CAPTURE_COUNTER = 0u;
 
-  FCoreDelegates::OnEndFrameRT.Remove(CopyTextureDelegate);
+  FCoreDelegates::OnEndFrame.Remove(CopyTextureDelegate);
   ACarlaGameModeBase* GameMode = Cast<ACarlaGameModeBase>(GetWorld()->GetAuthGameMode());
   GameMode->RemoveSceneCaptureSensor(this);
 }
 
-void ASceneCaptureSensor::CopyTextureFromAtlas(const TArray<FColor>& AtlasImage)
-{
-
-  if(AtlasImage.Num() > 0 && ImageToSend.Num() > 0)
-  {
-    SCOPE_CYCLE_COUNTER(STAT_CarlaSensorBufferCopy);
-
-    const FColor* Source = &AtlasImage[0] + PositionInAtlas.Y;
-
-    ImageToSend = TArray<FColor>(Source, ImageWidth * ImageHeight);
-  }
-}
-
 void ASceneCaptureSensor::CopyTextureToAtlas()
 {
 
@@ -570,20 +557,24 @@ void ASceneCaptureSensor::CopyTextureToAtlas()
           CopyInfo.DestPosition = This->PositionInAtlas; // Where to copy the texture
 
           RHICmdList.CopyTexture(Texture, AtlasTexture, CopyInfo);
-
-          /*
-          ASceneCaptureSensor& CameraRef = *Camera;
-          FPixelReader::WritePixelsToArray(
-            *(CameraRef.CaptureRenderTarget),
-            CameraRef.Pixels[CameraRef.PreviousTexture],
-            RHICmdList);
-          */
-
       }
     }
   );
 }
 
+void ASceneCaptureSensor::CopyTextureFromAtlas(const TArray<FColor>& AtlasImage)
+{
+
+  if(AtlasImage.Num() > 0 && ImageToSend.Num() > 0)
+  {
+    SCOPE_CYCLE_COUNTER(STAT_CarlaSensorBufferCopy);
+
+    const FColor* Source = &AtlasImage[0] + PositionInAtlas.Y;
+
+    ImageToSend = TArray<FColor>(Source, ImageWidth * ImageHeight);
+  }
+}
+
 // =============================================================================
 // -- Local static functions implementations -----------------------------------
 // =============================================================================
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h
index ebfed6a65..eb4721a4a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h
@@ -270,6 +270,8 @@ public:
     FPixelReader::SavePixelsToDisk(*CaptureRenderTarget, FilePath);
   }
 
+  void CopyTextureToAtlas();
+
   void CopyTextureFromAtlas(const TArray<FColor>& AtlasImage);
 
   template <typename TSensor>
@@ -297,8 +299,6 @@ protected:
 
   virtual void SetUpSceneCaptureComponent(USceneCaptureComponent2D &SceneCapture) {}
 
-  void CopyTextureToAtlas();
-
   FDelegateHandle CopyTextureDelegate;
 
   TArray<FColor> ImageToSend;