diff --git a/launch/tests/test_rgbd_image.launch b/launch/tests/test_rgbd_image.launch
index 81768bf0..8a7a9bda 100644
--- a/launch/tests/test_rgbd_image.launch
+++ b/launch/tests/test_rgbd_image.launch
@@ -7,26 +7,29 @@
   </include>
 
   <arg name="compressed" default="false"/>
+  <arg name="compressed_rate" default="0"/>
 
   <group ns="camera">
-    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager">
+    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager" output="screen">
       <remap from="rgb/image"         to="rgb/image_rect_color"/>
       <remap from="depth/image"       to="depth_registered/image_raw"/>
       <remap from="rgb/camera_info"   to="rgb/camera_info"/>
+      <param name="compressed_rate" value="$(arg compressed_rate)"/>
     </node>
   </group>
 
    <!-- Nodes -->
   <group ns="rtabmap">
   
-      <!-- RGB-D Odometry -->
-      <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
-        <param name="subscribe_rgbd"       type="bool"   value="true"/>
-        <remap from="rgbd_image"      to="/camera/rgbd_image"/>
+    <!-- RGB-D Odometry -->
+    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
+      <param name="subscribe_rgbd"       type="bool"   value="true"/>
+      <remap     if="$(arg compressed)"    from="rgbd_image"   to="/camera/rgbd_image/compressed"/>
+      <remap unless="$(arg compressed)"    from="rgbd_image"   to="/camera/rgbd_image"/>
         
-	    <param name="Odom/AlignWithGround"  type="string" value="true"/>
-        <param name="frame_id"         type="string" value="camera_link"/>
-      </node>
+	  <param name="Odom/AlignWithGround"  type="string" value="true"/>
+      <param name="frame_id"         type="string" value="camera_link"/>
+    </node>
     
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
       <param name="subscribe_depth"       type="bool"   value="false"/>