diff --git a/CMakeLists.txt b/CMakeLists.txt
index 332b2f2c..c5f880b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -191,25 +191,45 @@ target_link_libraries(data_player rtabmap_ros ${QT_LIBRARIES} ${Libraries})
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS rtabmap rtabmap_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS 
+   rtabmap_ros 
+   rtabmap 
+   rtabmapviz 
+   rgbd_odometry 
+   stereo_odometry
+   map_assembler
+   grid_map_assembler
+   map_optimizer
+   data_recorder
+   data_player
+   camera
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
 
 ## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h"
+   PATTERN ".svn" EXCLUDE
+)
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(FILES
+   launch/rgbd_mapping.launch
+   launch/rgbd_mapping_rviz.launch
+   launch/rgbd_localization.launch
+   launch/rgbd_localization_rviz.launch
+   launch/data_recorder.launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+install(DIRECTORY 
+   launch/config
+   launch/data
+   launch/demo
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
 
 #############
 ## Testing ##
diff --git a/launch/azimut3/az3_mapping_client.launch b/launch/azimut3/az3_mapping_client.launch
index ef776739..2f9cafe0 100644
--- a/launch/azimut3/az3_mapping_client.launch
+++ b/launch/azimut3/az3_mapping_client.launch
@@ -17,7 +17,7 @@
     <remap from="grid_map" to="rtabmap/grid_map"/>
   </node>
     
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
   
   <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
diff --git a/launch/azimut3/az3_mapping_client_nav.launch b/launch/azimut3/az3_mapping_client_nav.launch
index 0644866a..794beca3 100644
--- a/launch/azimut3/az3_mapping_client_nav.launch
+++ b/launch/azimut3/az3_mapping_client_nav.launch
@@ -8,7 +8,7 @@
   <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
   <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />
     
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_nav.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
   
   <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
diff --git a/launch/azimut3/az3_mapping_client_stereo_nav.launch b/launch/azimut3/az3_mapping_client_stereo_nav.launch
index e65559d2..853f67fc 100644
--- a/launch/azimut3/az3_mapping_client_stereo_nav.launch
+++ b/launch/azimut3/az3_mapping_client_stereo_nav.launch
@@ -5,5 +5,5 @@
   <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData_optimized /rtabmap/mapData_relay"/>
   <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/stereo_camera/left/image_rect_color raw out:=/stereo_camera/left/image_rect_color_relay" />
 
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3_stereo_nav.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_stereo_nav.rviz"/>
 </launch>
diff --git a/launch/azimut3/az3_mapping_robot_stereo_nav.launch b/launch/azimut3/az3_mapping_robot_stereo_nav.launch
index b05ac071..a7f346e5 100644
--- a/launch/azimut3/az3_mapping_robot_stereo_nav.launch
+++ b/launch/azimut3/az3_mapping_robot_stereo_nav.launch
@@ -25,11 +25,11 @@
         <remap from="move_base_simple/goal" to="/planner_goal"/>
         
         <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-    	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="global_costmap" />
-     	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/local_costmap_params.yaml" command="load" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/global_costmap_params.yaml" command="load" />
-    	  <rosparam file="$(find rtabmap_ros)/launch/config/azimut3/base_local_planner_params.yaml" command="load" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+     	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml" command="load" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
+    	  <rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
    		</node>
    		
         <param name="cmd_vel/abtr_priority" value="10"/>
diff --git a/launch/azimut3/az3_remote_find_object.launch b/launch/azimut3/az3_remote_find_object.launch
index ef9067c6..49954bbd 100644
--- a/launch/azimut3/az3_remote_find_object.launch
+++ b/launch/azimut3/az3_remote_find_object.launch
@@ -1,9 +1,9 @@
 <launch>
   <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
     <param name="gui" value="true" type="bool"/>
-    <param name="settings_path" value="$(find rtabmap_ros)/launch/config/azimut3_find_object.ini" type="str"/>
+    <param name="settings_path" value="$(find rtabmap_ros)/launch/azimut3/config/azimut3_find_object.ini" type="str"/>
     <param name="subscribe_depth" value="true" type="bool"/>
-    <param name="objects_path" value="$(find rtabmap_ros)/launch/config/books" type="str"/>
+    <param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
 		
     <remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
     <remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
diff --git a/launch/azimut3/az3_remote_mapping_rviz.launch b/launch/azimut3/az3_remote_mapping_rviz.launch
index 77b7a77f..a09ee0fd 100644
--- a/launch/azimut3/az3_remote_mapping_rviz.launch
+++ b/launch/azimut3/az3_remote_mapping_rviz.launch
@@ -52,7 +52,7 @@
     <node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
   </group>
    
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3.rviz"/>
   
   <!-- Below, construct point cloud of the latest throttled data -->
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
diff --git a/launch/config/azimut3.rviz b/launch/azimut3/config/azimut3.rviz
similarity index 100%
rename from launch/config/azimut3.rviz
rename to launch/azimut3/config/azimut3.rviz
diff --git a/launch/config/azimut3_nav.rviz b/launch/azimut3/config/azimut3_nav.rviz
similarity index 100%
rename from launch/config/azimut3_nav.rviz
rename to launch/azimut3/config/azimut3_nav.rviz
diff --git a/launch/config/azimut3_stereo_nav.rviz b/launch/azimut3/config/azimut3_stereo_nav.rviz
similarity index 100%
rename from launch/config/azimut3_stereo_nav.rviz
rename to launch/azimut3/config/azimut3_stereo_nav.rviz
diff --git a/launch/config/azimut3/base_local_planner_params.yaml b/launch/azimut3/config/base_local_planner_params.yaml
similarity index 100%
rename from launch/config/azimut3/base_local_planner_params.yaml
rename to launch/azimut3/config/base_local_planner_params.yaml
diff --git a/launch/config/azimut3/costmap_common_params.yaml b/launch/azimut3/config/costmap_common_params.yaml
similarity index 100%
rename from launch/config/azimut3/costmap_common_params.yaml
rename to launch/azimut3/config/costmap_common_params.yaml
diff --git a/launch/config/azimut3/global_costmap_params.yaml b/launch/azimut3/config/global_costmap_params.yaml
similarity index 100%
rename from launch/config/azimut3/global_costmap_params.yaml
rename to launch/azimut3/config/global_costmap_params.yaml
diff --git a/launch/config/azimut3/local_costmap_params.yaml b/launch/azimut3/config/local_costmap_params.yaml
similarity index 100%
rename from launch/config/azimut3/local_costmap_params.yaml
rename to launch/azimut3/config/local_costmap_params.yaml
diff --git a/launch/config/demo_find_object.rviz b/launch/config/demo_find_object.rviz
new file mode 100644
index 00000000..ce22d4cb
--- /dev/null
+++ b/launch/config/demo_find_object.rviz
@@ -0,0 +1,370 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+      Splitter Ratio: 0.434783
+    Tree Height: 410
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+      - /Current View1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: map
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.02684
+        Min Value: -1.12646
+        Value: true
+      Axis: Z
+      Channel Name: rgb
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 2.34177e-38
+      Min Color: 0; 0; 0
+      Min Intensity: 9.21942e-41
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /voxel_cloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        az3_base_link:
+          Value: true
+        az3_odom:
+          Value: true
+        base_footprint:
+          Value: true
+        base_laser_link:
+          Value: true
+        base_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        stereo_camera:
+          Value: true
+        stereo_camera_base:
+          Value: true
+        wheelLB_linkWheel_link:
+          Value: true
+        wheelLB_wheel_link:
+          Value: true
+        wheelLF_linkWheel_link:
+          Value: true
+        wheelLF_wheel_link:
+          Value: true
+        wheelRB_linkWheel_link:
+          Value: true
+        wheelRB_wheel_link:
+          Value: true
+        wheelRF_linkWheel_link:
+          Value: true
+        wheelRF_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                base_laser_link:
+                  {}
+                stereo_camera_base:
+                  stereo_camera:
+                    {}
+                wheelLB_linkWheel_link:
+                  wheelLB_wheel_link:
+                    {}
+                wheelLF_linkWheel_link:
+                  wheelLF_wheel_link:
+                    {}
+                wheelRB_linkWheel_link:
+                  wheelRB_wheel_link:
+                    {}
+                wheelRF_linkWheel_link:
+                  wheelRF_wheel_link:
+                    {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 3.66965
+        Min Value: -0.144665
+        Value: true
+      Axis: X
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 5
+      Size (m): 0.01
+      Style: Points
+      Topic: /base_scan
+      Use Fixed Frame: false
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /rtabmap/grid_map
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelLF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRB_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_linkWheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheelRF_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/data_throttled_image_relay
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rtabmap/MapCloud
+      Cloud decimation: 4
+      Cloud max depth (m): 3
+      Cloud voxel size (m): 0.02
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Download graph: false
+      Download map: false
+      Enabled: true
+      Filter floor (m): 0
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: MapCloud
+      Node filtering angle (degrees): 20
+      Node filtering radius (m): 0.2
+      Position Transformer: XYZ
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /rtabmap/mapData
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rtabmap/Info
+      Enabled: true
+      Name: Info
+      Topic: /rtabmap/info
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /rtabmap/grid_projection_map
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rtabmap/OrbitOriented
+      Distance: 7.83194
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.0199225
+        Y: 0.23516
+        Z: -0.0896359
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.699796
+      Target Frame: base_link
+      Value: OrbitOriented (rtabmap)
+      Yaw: 3.19875
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 763
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001b0000002ddfc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000229000000dd00fffffffb0000000a0049006d006100670065010000022f000000ae0000001600fffffffb0000000a0049006d006100670065010000027d000000fa0000000000000000000000010000010f00000377fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000377000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000463000002dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1561
+  X: 42
+  Y: 108
diff --git a/launch/config/books/4.png b/launch/data/books/4.png
similarity index 100%
rename from launch/config/books/4.png
rename to launch/data/books/4.png
diff --git a/launch/config/books/5.png b/launch/data/books/5.png
similarity index 100%
rename from launch/config/books/5.png
rename to launch/data/books/5.png
diff --git a/launch/config/books/6.png b/launch/data/books/6.png
similarity index 100%
rename from launch/config/books/6.png
rename to launch/data/books/6.png
diff --git a/launch/config/books/7.png b/launch/data/books/7.png
similarity index 100%
rename from launch/config/books/7.png
rename to launch/data/books/7.png
diff --git a/launch/config/books/8.png b/launch/data/books/8.png
similarity index 100%
rename from launch/config/books/8.png
rename to launch/data/books/8.png
diff --git a/data/1.jpg b/launch/data/demo_appearance/1.jpg
similarity index 100%
rename from data/1.jpg
rename to launch/data/demo_appearance/1.jpg
diff --git a/data/10.jpg b/launch/data/demo_appearance/10.jpg
similarity index 100%
rename from data/10.jpg
rename to launch/data/demo_appearance/10.jpg
diff --git a/data/11.jpg b/launch/data/demo_appearance/11.jpg
similarity index 100%
rename from data/11.jpg
rename to launch/data/demo_appearance/11.jpg
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diff --git a/launch/demo/demo_appearance_localization.launch b/launch/demo/demo_appearance_localization.launch
index 1770eef2..5a0f82d2 100644
--- a/launch/demo/demo_appearance_localization.launch
+++ b/launch/demo/demo_appearance_localization.launch
@@ -38,7 +38,7 @@
 	<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
 		<remap from="image" to="image"/>
 		<param name="device_id" value="0" type="int"/>
-		<param name="video_or_images_path" value="$(find rtabmap_ros)/data" type="string"/>
+		<param name="video_or_images_path" value="$(find rtabmap_ros)/launch/data/demo_appearance" type="string"/>
 		<param name="frame_rate" value="2.0" type="double"/>
 		<param name="width" value="0" type="int"/>
 		<param name="height" value="0" type="int"/>
diff --git a/launch/demo/demo_appearance_mapping.launch b/launch/demo/demo_appearance_mapping.launch
index a638d37d..8b8aaf32 100644
--- a/launch/demo/demo_appearance_mapping.launch
+++ b/launch/demo/demo_appearance_mapping.launch
@@ -41,7 +41,7 @@
 	<node name="camera" pkg="rtabmap_ros" type="camera" output="screen">
 		<remap from="image" to="image"/>
 		<param name="device_id" value="0" type="int"/>
-		<param name="video_or_images_path" value="$(find rtabmap_ros)/data" type="string"/>
+		<param name="video_or_images_path" value="$(find rtabmap_ros)/launch/data/demo_appearance" type="string"/>
 		<param name="frame_rate" value="2.0" type="double"/>
 		<param name="width" value="0" type="int"/>
 		<param name="height" value="0" type="int"/>
diff --git a/launch/demo/demo_find_object.launch b/launch/demo/demo_find_object.launch
index c1db2967..56b64ebb 100644
--- a/launch/demo/demo_find_object.launch
+++ b/launch/demo/demo_find_object.launch
@@ -48,8 +48,10 @@
   </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'" />
-
+  -->
+  
   <!-- Grid map assembler for rviz -->
   <node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler" output="screen">
     <remap from="mapData" to="rtabmap/mapData"/>
@@ -60,7 +62,7 @@
   <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
 
   <!-- Visualisation -->
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/azimut3.rviz" output="screen"/>
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_find_object.rviz" output="screen"/>
   
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
@@ -81,7 +83,7 @@
     <param name="gui" value="true" type="bool"/>
     <param name="settings_path" value="$(find rtabmap_ros)/launch/config/find_object.ini" type="str"/>
     <param name="subscribe_depth" value="true" type="bool"/>
-    <param name="objects_path" value="$(find rtabmap_ros)/launch/config/books" type="str"/>
+    <param name="objects_path" value="$(find rtabmap_ros)/launch/data/books" type="str"/>
 		
     <remap from="rgb/image_rect_color" to="/camera/data_throttled_image"/>
     <remap from="depth_registered/image_raw" to="/camera/data_throttled_image_depth"/>
diff --git a/launch/demo/kinect_frames.launch b/launch/demo/kinect_frames.launch
deleted file mode 100644
index 63d6a4c7..00000000
--- a/launch/demo/kinect_frames.launch
+++ /dev/null
@@ -1,23 +0,0 @@
-<!-- Default frames for Kinect/PSDK5 devices
-     Places depth and RGB cameras in the same plane with 2.5cm baseline.
-     Calibration may improve results, but these defaults are reasonably accurate.
--->
-<launch>
-  <arg name="camera" default="camera" />
-  <arg name="ns" default="" />
-
-  <arg name="pi/2" value="1.5707963267948966" />
-  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
-
-  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
-        args="0 -0.02  0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_depth_frame 100" />  
-  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
-        args="0 -0.045 0 0 0 0  $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_rgb_frame 100" />  
-  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
-        args="$(arg optical_rotate) $(arg ns)/$(arg camera)_depth_frame $(arg ns)/$(arg camera)_depth_optical_frame  100" />  
-  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
-        args="$(arg optical_rotate) $(arg ns)/$(arg camera)_rgb_frame $(arg ns)/$(arg camera)_rgb_optical_frame 100" />  
-</launch>
-
-<!-- TODO Could instead store these in camera_pose_calibration format for consistency
-     with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->