diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index 6a7b6444..e1593bb6 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -93,7 +93,7 @@
       <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
       <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
   
-      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
         <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
         <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
         <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
@@ -109,7 +109,7 @@
   
     <!-- Visual SLAM (robot side) -->
     <!-- args: "delete_db_on_start" and "udebug" -->
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
       <param name="subscribe_depth"     type="bool"   value="$(arg rgbd)"/>
       <param name="subscribe_stereo"    type="bool"   value="$(arg stereo)"/>
       <param name="subscribe_laserScan" type="bool"   value="$(arg subscribe_scan)"/>
@@ -134,7 +134,7 @@
     </node>
   
     <!-- Visualisation RTAB-Map -->
-    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg cfg)" output="screen">
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
       <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)"/>