diff --git a/rtabmap/launch/all_tr_learning_omni.launch b/rtabmap/launch/all_tr_learning_omni.launch
index 607a25fe..174c0dd6 100644
--- a/rtabmap/launch/all_tr_learning_omni.launch
+++ b/rtabmap/launch/all_tr_learning_omni.launch
@@ -17,15 +17,6 @@
 	<include file="$(find rtabmap)/launch/rtabmap_sm.launch"/>
 	
 	<!-- CAMERA -->
-	<node pkg="omni_camera_capture" type="omni_publisher" 
-		name="omni_camera" respawn="false">
-		<param name="device" value="/dev/video0"/>
-		<param name="refresh_rate" value="2"/>
-		<param name="frame_id" value="omni_camera_link" />
-		<param name="image_encoding" value="RGB" /> <!-- GREY or RGB-->
-		<param name="image_size" value="FULL" /> <!-- PARTIAL or FULL -->
-		<param name="scale_divisor" value="1" /> <!-- 1, 2, 3, 4 or 6  in PARTIAL size-->
-		<remap from="/image" to="/image_raw" />
-	</node>
+	<include file="$(find rtabmap)/launch/cameraOmni.launch"/>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/rtabmap/launch/cameraOmni.launch b/rtabmap/launch/cameraOmni.launch
new file mode 100644
index 00000000..cca66c47
--- /dev/null
+++ b/rtabmap/launch/cameraOmni.launch
@@ -0,0 +1,14 @@
+<launch>
+	<!-- CAMERA -->
+	<node pkg="omni_camera_capture" type="omni_publisher" 
+		name="omni_camera" respawn="false">
+		<param name="device" value="/dev/video0"/>
+		<param name="refresh_rate" value="1"/>
+		<param name="frame_id" value="omni_camera_link" />
+		<param name="image_encoding" value="RGB" /> <!-- GREY or RGB-->
+		<param name="image_size" value="FULL" /> <!-- PARTIAL or FULL -->
+		<param name="scale_divisor" value="1" /> <!-- 1, 2, 3, 4 or 6  in PARTIAL size-->
+		<remap from="/image" to="/image_raw" />
+	</node>
+
+</launch>
diff --git a/rtabmap/launch/cameraOpenCV.launch b/rtabmap/launch/cameraOpenCV.launch
index e70330eb..3cc2ec6a 100644
--- a/rtabmap/launch/cameraOpenCV.launch
+++ b/rtabmap/launch/cameraOpenCV.launch
@@ -1,10 +1,10 @@
 <launch>
 	<!-- Camera parameters -->
 	<param name="cam/device_id" value="0" type="int"/>
-	<param name="cam/image_rate" value="2" type="int"/>
+	<param name="cam/image_rate" value="1" type="int"/>
 	<param name="cam/image_width" value="640" type="int"/>
 	<param name="cam/image_height" value="480" type="int"/>
 	
 	<!-- Nodes -->
 	<node name="camera" pkg="rtabmap" type="camera_node"/>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/rtabmap/launch/rtabmap_sm.launch b/rtabmap/launch/rtabmap_sm.launch
index 82f7c84b..51f3dab1 100644
--- a/rtabmap/launch/rtabmap_sm.launch
+++ b/rtabmap/launch/rtabmap_sm.launch
@@ -12,7 +12,7 @@
 	</node>
 	
 	<node name="rtabmap_output" pkg="rtabmap" type="output_node">
-	    <param name="commands_hz" value="5" type="int"/>
+	    <param name="commands_hz" value="10" type="int"/>
 		<remap from="rtabmap/cmd_vel" to="rtabmap/cmd_vel" />
 		<remap from="rtabmap_info" to="rtabmap_info" />
 		<remap from="rtabmap_info_x" to="rtabmap_info_x" />
@@ -25,17 +25,17 @@
 	</node>
 
 	<node name="rtabmap_input" pkg="rtabmap" type="input_node">
-		<param name="nb_commands" value="5" type="int"/>
+		<param name="nb_commands" value="10" type="int"/>
 		<remap from="/cmd_vel" to="/cmd_vel" />
 		<remap from="/sm_state" to="/sm_state" />
 		<remap from="/camera_data" to="/camera_data" />
 	</node>
 	
 	<node name="image_to_sms" pkg="rtabmap" type="image_to_sms_node">
-		<param name="image_rate" value="2" type="int"/>
+		<param name="image_rate" value="1" type="int"/>
 		<param name="resize_image_width" value="640" type="int"/>
 		<param name="resize_image_height" value="480" type="int"/>
 		<remap from="/image_raw" to="/image_raw" />
 		<remap from="/sm_state" to="/camera_data" />
 	</node>
-</launch>
\ No newline at end of file
+</launch>