diff --git a/rtabmap/launch/rgbd_localization.launch b/rtabmap/launch/rgbd_localization.launch
index c47a6556..2d6e33ed 100644
--- a/rtabmap/launch/rgbd_localization.launch
+++ b/rtabmap/launch/rgbd_localization.launch
@@ -2,19 +2,14 @@
 <launch>
    
    <!-- RGB-D LOCALIZATION VERSION -->
-   
-  <!-- Kinect -->
-  <include file="$(find openni_launch)/launch/openni.launch">
-    <arg name="depth_registration" value="True" />
-  </include>
-  
+     
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
     args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
    
   <!-- Odometry -->
   <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-    <remap from="rgb/image"       to="camera/rgb/image_color"/>
+    <remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
    
@@ -33,7 +28,7 @@
       <param name="subscribe_depth" type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="false"/>
 	
-      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
       <remap from="odom" to="/odom"/>
@@ -54,7 +49,7 @@
       <param name="subscribe_laserScan" type="bool" value="false"/>
       <param name="queue_size" type="int" value="30"/>
     
-      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
       <remap from="odom" to="/odom"/>
diff --git a/rtabmap/launch/rgbd_mapping.launch b/rtabmap/launch/rgbd_mapping.launch
index 7f75a534..c65450c2 100644
--- a/rtabmap/launch/rgbd_mapping.launch
+++ b/rtabmap/launch/rgbd_mapping.launch
@@ -4,11 +4,6 @@
    <!-- RGB-D MAPPING VERSION -->
    <!-- WARNING : Database is automatically deleted on each startup -->
    <!--           See "delete_db_on_start" option below... -->
-   
-  <!-- Kinect -->
-  <include file="$(find openni_launch)/launch/openni.launch">
-    <arg name="depth_registration" value="True" />
-  </include>
   
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
@@ -16,7 +11,7 @@
    
   <!-- Odometry -->
   <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-    <remap from="rgb/image"       to="camera/rgb/image_color"/>
+    <remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
    
@@ -31,7 +26,7 @@
       <param name="subscribe_depth" type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="false"/>
 	
-      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
       <remap from="odom" to="/odom"/>
@@ -45,7 +40,7 @@
       <param name="subscribe_laserScan" type="bool" value="false"/>
       <param name="queue_size" type="int" value="30"/>
     
-      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
       <remap from="odom" to="/odom"/>
diff --git a/rtabmap/launch/rgbd_mapping_rviz.launch b/rtabmap/launch/rgbd_mapping_rviz.launch
index 5ff53720..3c3469b3 100644
--- a/rtabmap/launch/rgbd_mapping_rviz.launch
+++ b/rtabmap/launch/rgbd_mapping_rviz.launch
@@ -4,11 +4,6 @@
    <!-- RGB-D MAPPING VERSION -->
    <!-- WARNING : Database is automatically deleted on each startup -->
    <!--           See "delete_db_on_start" option below... -->
-   
-  <!-- Kinect -->
-  <include file="$(find openni_launch)/launch/openni.launch">
-    <arg name="depth_registration" value="True" />
-  </include>
   
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
@@ -16,7 +11,7 @@
    
   <!-- Odometry -->
   <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-    <remap from="rgb/image"       to="camera/rgb/image_color"/>
+    <remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
    
@@ -31,7 +26,7 @@
       <param name="subscribe_depth" type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="false"/>
 	
-      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
       <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
       <remap from="odom" to="/odom"/>
@@ -54,7 +49,7 @@
   <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
   <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
-    <remap from="rgb/image_in"       to="camera/rgb/image_color"/>
+    <remap from="rgb/image_in"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
     <remap from="odom_in"             to="odom"/>
diff --git a/rtabmap/launch/tests/test_odometry_FAST.launch b/rtabmap/launch/tests/test_odometry_FAST.launch
index 2d11f3a7..7159d962 100644
--- a/rtabmap/launch/tests/test_odometry_FAST.launch
+++ b/rtabmap/launch/tests/test_odometry_FAST.launch
@@ -1,11 +1,6 @@
 
 <launch>
-   
-   <!-- Kinect -->
-  <include file="$(find openni_launch)/launch/openni.launch">
-  	<arg name="depth_registration" value="True" />
-  </include>
-  
+    
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
   	args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
@@ -14,7 +9,7 @@
    
   <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
   <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
-    <remap from="rgb/image_in"       to="camera/rgb/image_color"/>
+    <remap from="rgb/image_in"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
     <remap from="odom_in"             to="odom"/>
@@ -32,13 +27,13 @@
     <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
     <remap from="cloud"           to="voxel_cloud" />
     
-    <param name="queue_size" type="int" value="10"/>
+    <param name="queue_size" type="int" value="30"/>
     <param name="voxel_size" type="double" value="0.01"/>
   </node>
   
   <!-- Odometry -->
   <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-  	<remap from="rgb/image"       to="camera/rgb/image_color"/>
+  	<remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
   	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>
   	<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
 	<remap from="odom" to="odom"/>
diff --git a/rtabmap/launch/tests/test_odometry_SIFT.launch b/rtabmap/launch/tests/test_odometry_SIFT.launch
index d4de4bbc..775cf17b 100644
--- a/rtabmap/launch/tests/test_odometry_SIFT.launch
+++ b/rtabmap/launch/tests/test_odometry_SIFT.launch
@@ -1,11 +1,6 @@
 
 <launch>
-   
-   <!-- Kinect -->
-  <include file="$(find openni_launch)/launch/openni.launch">
-  	<arg name="depth_registration" value="True" />
-  </include>
-  
+     
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
   	args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
@@ -14,7 +9,7 @@
    
   <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
   <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
-    <remap from="rgb/image_in"       to="camera/rgb/image_color"/>
+    <remap from="rgb/image_in"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
     <remap from="odom_in"             to="odom"/>
@@ -38,7 +33,7 @@
   
   <!-- Odometry -->
   <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-  	<remap from="rgb/image"       to="camera/rgb/image_color"/>
+  	<remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
   	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>
   	<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
 	<remap from="odom" to="odom"/>
diff --git a/rtabmap/launch/tests/test_odometry_SURF.launch b/rtabmap/launch/tests/test_odometry_SURF.launch
index 2113b31a..4734a685 100644
--- a/rtabmap/launch/tests/test_odometry_SURF.launch
+++ b/rtabmap/launch/tests/test_odometry_SURF.launch
@@ -1,10 +1,5 @@
 
 <launch>
-   
-   <!-- Kinect -->
-  <include file="$(find openni_launch)/launch/openni.launch">
-  	<arg name="depth_registration" value="True" />
-  </include>
   
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
@@ -14,7 +9,7 @@
    
   <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
   <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
-    <remap from="rgb/image_in"       to="camera/rgb/image_color"/>
+    <remap from="rgb/image_in"       to="camera/rgb/image_rect_color"/>
     <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
     <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
     <remap from="odom_in"             to="odom"/>
@@ -38,7 +33,7 @@
   
   <!-- Odometry -->
   <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
-  	<remap from="rgb/image"       to="camera/rgb/image_color"/>
+  	<remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
   	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>
   	<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
 	<remap from="odom" to="odom"/>