diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index bda34919..eb220dd6 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -39,6 +39,7 @@
   <arg name="args"                    default=""/>              <!-- delete_db_on_start, udebug -->
   <arg name="rtabmap_args"            default="$(arg args)"/>   <!-- deprecated, use "args" argument -->
   <arg name="launch_prefix"           default=""/>              <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
+  <arg name="output"                  default="screen"/>        <!--Control node output (screen or log)-->
   
   <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
   <arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
@@ -95,7 +96,7 @@
       <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
       <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
   
-      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
         <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
         <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
         <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -114,7 +115,7 @@
       <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
       <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
   
-      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="$(arg output)" args="$(arg odom_args)" launch-prefix="$(arg launch_prefix)">
         <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
         <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
         <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
@@ -131,7 +132,7 @@
   
     <!-- Visual SLAM (robot side) -->
     <!-- args: "delete_db_on_start" and "udebug" -->
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
       <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
       <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
       <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
@@ -171,7 +172,7 @@
     </node>
   
     <!-- Visualisation RTAB-Map -->
-    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
       <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
       <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
       <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>