diff --git a/launch/demo/demo_hector_mapping.launch b/launch/demo/demo_hector_mapping.launch
index e9a72bcd..56c8fc4d 100644
--- a/launch/demo/demo_hector_mapping.launch
+++ b/launch/demo/demo_hector_mapping.launch
@@ -49,7 +49,7 @@
 	  <param name="frame_id" type="string" value="base_footprint"/>
 	
 	  <param name="subscribe_depth" type="bool" value="true"/>
-	  <param name="subscribe_laserScan" type="bool" value="true"/>
+	  <param name="subscribe_scan" type="bool" value="true"/>
 	
 	  <remap from="odom" to="/scanmatch_odom"/>
 	  <remap from="scan" to="/jn0/base_scan"/>
@@ -62,9 +62,9 @@
       <param name="depth/image_transport" type="string" value="compressedDepth"/>
 	
 	  <!-- RTAB-Map's parameters -->
-	  <param name="LccIcp/Type" type="string" value="2"/>              <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
-	  <param name="LccBow/MaxDepth" type="string" value="10.0"/>       <!-- 3D visual words maximum depth 0=infinity -->
-	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
+	  <param name="Reg/Strategy" type="string" value="1"/>          <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
+	  <param name="Vis/MaxDepth" type="string" value="10.0"/>       <!-- 3D visual words maximum depth 0=infinity -->
+	  <param name="Vis/InlierDistance" type="string" value="0.1"/>  <!-- 3D visual words correspondence distance -->
     </node>
     
     <!-- Visualisation RTAB-Map -->