diff --git a/CMakeLists.txt b/CMakeLists.txt
index 784b2091..8d65d142 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,7 +17,7 @@ find_package(octomap_ros)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(RTABMap 0.10.1 REQUIRED)
+find_package(RTABMap 0.10.2 REQUIRED)
 
 find_package(OpenCV REQUIRED)
 
diff --git a/src/GuiWrapper.cpp b/src/GuiWrapper.cpp
index f053e911..b0b3dad4 100644
--- a/src/GuiWrapper.cpp
+++ b/src/GuiWrapper.cpp
@@ -54,6 +54,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap_ros/MsgConversion.h"
 #include "rtabmap_ros/GetMap.h"
 #include "rtabmap_ros/SetGoal.h"
+#include "rtabmap_ros/SetLabel.h"
 
 #include "PreferencesDialogROS.h"
 
@@ -379,6 +380,16 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
 				ROS_ERROR("Can't call \"cancel_goal\" service");
 			}
 		}
+		else if(cmd == rtabmap::RtabmapEventCmd::kCmdLabel)
+		{
+			rtabmap_ros::SetLabel setLabelSrv;
+			setLabelSrv.request.node_id = cmdEvent->getInt();
+			setLabelSrv.request.node_label = cmdEvent->getStr();
+			if(!ros::service::call("set_label", setLabelSrv))
+			{
+				ROS_ERROR("Can't call \"set_label\" service");
+			}
+		}
 		else
 		{
 			ROS_WARN("Not handled command (%d)...", cmd);