diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index 3b224d57..7337c65d 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -23,7 +23,7 @@
   <arg name="rviz"                    default="false" />
   
   <!-- Corresponding config files -->
-  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
+  <arg name="cfg"                     default="~/.ros/rtabmap.ini" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
   <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
   
   <arg name="frame_id"                default="camera_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
@@ -122,7 +122,7 @@
     </node>
   
     <!-- Visualisation RTAB-Map -->
-    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg cfg)" output="screen">
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg cfg)" output="screen">
       <param name="subscribe_depth"      type="bool"   value="$(arg rgbd)"/>
       <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
       <param name="subscribe_laserScan"  type="bool"   value="$(arg subscribe_scan)"/>