diff --git a/launch/tests/rgbdslam_datasets.launch b/launch/tests/rgbdslam_datasets.launch
index 22bd1af1..e3c96fef 100644
--- a/launch/tests/rgbdslam_datasets.launch
+++ b/launch/tests/rgbdslam_datasets.launch
@@ -19,6 +19,10 @@
    <arg name="feature" default="6" />
    <arg name="nn" default="3" />
    <arg name="local_map" default="1000" />
+   
+   <!-- Choose visualization -->
+   <arg name="rviz" default="true" />
+   <arg name="rtabmapviz" default="false" /> 
  
   <!-- TF FRAMES -->
   <node pkg="tf" type="static_transform_publisher" name="world_to_map" 
@@ -37,6 +41,7 @@
 	  <param name="Odom/FeatureType" type="string" value="$(arg feature)"/>            
       <param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
       <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
+      <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/> 
       
       <param name="frame_id" type="string" value="kinect"/>
       <param name="publish_tf" type="bool" value="false"/>
@@ -69,10 +74,10 @@
     </node>
     
     <!-- Visualisation  -->
-    <!--
-    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
       <param name="subscribe_depth" type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="false"/>
+      <param name="subscribe_odom_info" type="bool" value="true"/>
       <param name="queue_size" type="int" value="30"/>
       
       <param name="frame_id" type="string" value="kinect"/>
@@ -82,12 +87,11 @@
       <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
       <remap from="odom" to="odom"/>
     </node>
-    -->
         
   </group>
   
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
-  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
+  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
+  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
     <remap from="rgb/image"       to="/camera/rgb/image_color"/>
     <remap from="depth/image"     to="/camera/depth/image"/>
     <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>