diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index f9a2b25f..7ea0fb2a 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -21,6 +21,7 @@
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@@ -42,6 +43,8 @@
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@@ -55,9 +58,10 @@
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@@ -82,6 +86,7 @@
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diff --git a/launch/stereo_mapping.launch b/launch/stereo_mapping.launch
new file mode 100644
index 00000000..5161e975
--- /dev/null
+++ b/launch/stereo_mapping.launch
@@ -0,0 +1,119 @@
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diff --git a/launch/tests/bumblebee.launch b/launch/tests/bumblebee.launch
index c979ba79..fe3eb9f9 100644
--- a/launch/tests/bumblebee.launch
+++ b/launch/tests/bumblebee.launch
@@ -15,10 +15,24 @@
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diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index 09a7dc57..1458eb54 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -81,7 +81,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
odomFrameId_(""),
configPath_(""),
databasePath_(UDirectory::homeDir()+"/.ros/"+rtabmap::Parameters::getDefaultDatabaseName()),
- waitForTransform_(false),
+ waitForTransform_(true),
useActionForGoal_(false),
genScan_(false),
genScanMaxDepth_(4.0),
diff --git a/src/GuiWrapper.cpp b/src/GuiWrapper.cpp
index ff84a015..f053e911 100644
--- a/src/GuiWrapper.cpp
+++ b/src/GuiWrapper.cpp
@@ -71,7 +71,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
app_(0),
mainWindow_(0),
frameId_("base_link"),
- waitForTransform_(false),
+ waitForTransform_(true),
cameraNodeName_(""),
lastOdomInfoUpdateTime_(0),
depthScanSync_(0),
diff --git a/src/OdometryROS.cpp b/src/OdometryROS.cpp
index 4cb0d2f0..1df2ec99 100644
--- a/src/OdometryROS.cpp
+++ b/src/OdometryROS.cpp
@@ -56,7 +56,7 @@ OdometryROS::OdometryROS(int argc, char * argv[]) :
odomFrameId_("odom"),
groundTruthFrameId_(""),
publishTf_(true),
- waitForTransform_(false),
+ waitForTransform_(true),
paused_(false)
{
this->processArguments(argc, argv);