diff --git a/launch/azimut3/az3_bag_mapping.launch b/launch/azimut3/az3_bag_mapping.launch
index 5e6dfac1..17416253 100644
--- a/launch/azimut3/az3_bag_mapping.launch
+++ b/launch/azimut3/az3_bag_mapping.launch
@@ -40,7 +40,6 @@
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
 	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
 	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
-   	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
     </node>
   </group>
   
diff --git a/launch/azimut3/az3_mapping_robot.launch b/launch/azimut3/az3_mapping_robot.launch
index 82a0be23..fd8a6089 100644
--- a/launch/azimut3/az3_mapping_robot.launch
+++ b/launch/azimut3/az3_mapping_robot.launch
@@ -68,7 +68,6 @@
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
 	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
 	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
-   	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
     </node>
   </group>
 </launch>
diff --git a/launch/azimut3/az3_mapping_robot_kinect_odom.launch b/launch/azimut3/az3_mapping_robot_kinect_odom.launch
index 662b0359..f0aff6a6 100644
--- a/launch/azimut3/az3_mapping_robot_kinect_odom.launch
+++ b/launch/azimut3/az3_mapping_robot_kinect_odom.launch
@@ -56,7 +56,6 @@
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
 	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
 	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
-   	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
     </node>
   </group>
 </launch>