diff --git a/launch/demo/demo_turtlebot_mapping.launch b/launch/demo/demo_turtlebot_mapping.launch
index c7db7a12..43b114b4 100644
--- a/launch/demo/demo_turtlebot_mapping.launch
+++ b/launch/demo/demo_turtlebot_mapping.launch
@@ -94,7 +94,7 @@
 	  <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>    <!-- Update map only if the robot is moving -->
 	  <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>    <!-- Update map only if the robot is moving -->
 	  <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/> 
-	  <param name="Rtabmap/TimeThr"              type="string" value="700"/>
+	  <param name="Rtabmap/TimeThr"              type="string" value="0"/>
 	  <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
 	  <param name="Reg/Force3DoF"                type="string" value="true"/>
 	  <param name="GridGlobal/MinSize"           type="string" value="20"/>