diff --git a/launch/azimut3/az3_bag_find_object.launch b/launch/azimut3/az3_bag_find_object.launch
index b887cd84..eac7374a 100644
--- a/launch/azimut3/az3_bag_find_object.launch
+++ b/launch/azimut3/az3_bag_find_object.launch
@@ -10,6 +10,6 @@
     <remap from="depth_registered/camera_info" to="camera/data_throttled_camera_info"/>
 
     <param name="rgb/image_transport" type="string" value="compressed"/>
-    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+    <param name="depth_registered/image_transport" type="string" value="compressedDepth"/>
   </node>
 </launch>
diff --git a/launch/azimut3/az3_bag_mapping.launch b/launch/azimut3/az3_bag_mapping.launch
index bfcdaa7d..78ce81c7 100644
--- a/launch/azimut3/az3_bag_mapping.launch
+++ b/launch/azimut3/az3_bag_mapping.launch
@@ -42,6 +42,9 @@
 	  <param name="Mem/RehearsedNodesKept" type="string" value="false"/>   
     </node>
   </group> 
+  
+  <!-- send AZIMUT 3 urdf to param server -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find az3_description)/robots/azimut_3_laser.urdf.xacro'" />
 
   <!-- Visualisation -->
   <include file="$(find rtabmap)/launch/azimut3/az3_mapping_client.launch"/>