diff --git a/launch/config/demo_stereo_outdoor.rviz b/launch/config/demo_stereo_outdoor.rviz
index ce7efce9..c9eb5966 100644
--- a/launch/config/demo_stereo_outdoor.rviz
+++ b/launch/config/demo_stereo_outdoor.rviz
@@ -180,7 +180,7 @@ Visualization Manager:
       Draw Behind: false
       Enabled: true
       Name: Map
-      Topic: /rtabmap/proj_map
+      Topic: /rtabmap/grid_map
       Value: true
     - Class: rtabmap_ros/Info
       Enabled: true
diff --git a/launch/demo/demo_multi-session_mapping.launch b/launch/demo/demo_multi-session_mapping.launch
index 19e6cdbc..0c8c9d65 100644
--- a/launch/demo/demo_multi-session_mapping.launch
+++ b/launch/demo/demo_multi-session_mapping.launch
@@ -49,12 +49,12 @@
 	<param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
 	<param name="Kp/DetectorStrategy"        type="string" value="0"/>   <!-- use SURF -->
 	<param name="Kp/MaxFeatures"             type="string" value="400"/>
-	<param name="Optimizer/Slam2D"           type="string" value="true"/>
 	<param name="Reg/Force3DoF"              type="string" value="true"/> 
 	<param name="RGBD/OptimizeMaxError"      type="string" value="0.25"/>
         <param name="Optimizer/Strategy"         type="string" value="0"/>  <!-- TORO is the most stable for multi-session mapping -->
         <param name="Optimizer/Iterations"       type="string" value="100"/> 
         <param name="Kp/IncrementalFlann"        type="string" value="false"/>  <!-- Referred paper didn't use incremental FLANN -->
+        <param name="Grid/FromDepth"             type="string" value="false"/>
   </node>
   
   <!-- Visualisation RTAB-Map -->
diff --git a/launch/demo/demo_robot_mapping.launch b/launch/demo/demo_robot_mapping.launch
index 2955d5ab..efbf952c 100644
--- a/launch/demo/demo_robot_mapping.launch
+++ b/launch/demo/demo_robot_mapping.launch
@@ -33,8 +33,8 @@
   	  <remap from="depth/image"     to="/data_throttled_image_depth"/>
   	  <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
   	
-      <param name="rgb/image_transport"   type="string" value="compressed"/>
-      <param name="depth/image_transport" type="string" value="compressedDepth"/>
+	  <param name="rgb/image_transport"   type="string" value="compressed"/>
+	  <param name="depth/image_transport" type="string" value="compressedDepth"/>
 	
 	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
 	  <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>  <!-- Do odometry correction with consecutive laser scans -->
@@ -43,8 +43,8 @@
 	  <param name="Reg/Strategy"              type="string" value="1"/>     <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
 	  <param name="Vis/InlierDistance"        type="string" value="0.1"/>   <!-- 3D visual words correspondence distance -->
 	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
-	  <param name="Optimizer/Slam2D"          type="string" value="true"/>
 	  <param name="Reg/Force3DoF"             type="string" value="true"/>
+	  <param name="Grid/FromDepth"            type="string" value="false"/>
 	  
 	  <!-- localization mode -->
 	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>