diff --git a/launch/azimut3/az3_mapping_robot.launch b/launch/azimut3/az3_mapping_robot.launch
index 20c1448f..e756a9fc 100644
--- a/launch/azimut3/az3_mapping_robot.launch
+++ b/launch/azimut3/az3_mapping_robot.launch
@@ -9,6 +9,10 @@
   <!-- Xtion -->
   <include file="$(find openni2_launch)/launch/openni2.launch">
     <arg name="depth_registration" value="True" />
+    <arg name="rgb_camera_info_url"
+        value="$(find rtabmap)/launch/calibration/rgb_PS1080_PrimeSense.yaml" />
+   <arg name="depth_camera_info_url"
+        value="$(find rtabmap)/launch/calibration/depth_PS1080_PrimeSense.yaml" />
   </include>
 
   <!-- Xtion frame -->
diff --git a/calibration/depth_PS1080_PrimeSense.yaml b/launch/calibration/depth_PS1080_PrimeSense.yaml
similarity index 100%
rename from calibration/depth_PS1080_PrimeSense.yaml
rename to launch/calibration/depth_PS1080_PrimeSense.yaml
diff --git a/calibration/rgb_PS1080_PrimeSense.yaml b/launch/calibration/rgb_PS1080_PrimeSense.yaml
similarity index 100%
rename from calibration/rgb_PS1080_PrimeSense.yaml
rename to launch/calibration/rgb_PS1080_PrimeSense.yaml
diff --git a/launch/config/rgbd_gui.ini b/launch/config/rgbd_gui.ini
index 9867ea7a..49d4220e 100644
--- a/launch/config/rgbd_gui.ini
+++ b/launch/config/rgbd_gui.ini
@@ -13,8 +13,8 @@ General\beep=false
 General\keypointsOpacity=16
 General\voxelSize=0
 General\decimation=16
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-MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\xb1\0\0\0\xa1\0\0\x6\xc0\0\0\x3\x94\0\0\x1\xb9\0\0\0\xbd\0\0\x6\xb8\0\0\x3\x8c\0\0\0\0\0\0)
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xfa\0\0\x2\xba\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\0\0\0\0(\0\0\x2\xba\0\0\0\xe0\0\xff\xff\xff\0\0\0\x1\0\0\x5\0\0\0\x2\x92\xfc\x2\0\0\0\x2\xfc\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfc\x1\0\0\0\x2\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0i\0m\0\x61\0g\0\x65\0V\0i\0\x65\0w\x1\0\0\0\0\0\0\x1\\\0\0\0\xb8\0\xff\xff\xff\xfc\0\0\x1\x62\0\0\x3\x9e\0\0\0\xe6\x1\0\0\x1d\xfa\0\0\0\x1\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0g\0r\0\x61\0p\0h\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2\x92\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\x1I\0\0\0\xf7\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\0\0\0\0\x9c\xfc\x1\0\0\0\x5\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\0\0\0\0\0\0\0\x5\0\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\x5u\0\0\0\xea\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0m\0\x61\0p\0V\0i\0s\0i\0\x62\0i\0l\0i\0t\0y\0\0\0\0\0\xff\xff\xff\xff\0\0\0`\0\xff\xff\xff\0\0\0\0\0\0\x2\x92\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\xa3\0\0\0\xa1\0\0\x6\xb2\0\0\x3\x94\0\0\x1\xab\0\0\0\xbd\0\0\x6\xaa\0\0\x3\x8c\0\0\0\0\0\0)
 General\showClouds0=true
 General\voxelSize0=0
 General\decimation0=4
@@ -24,7 +24,7 @@ General\opacity0=1
 General\ptSize0=1
 General\opacityScan0=1
 General\ptSizeScan0=1
-General\showClouds1=true
+General\showClouds1=false
 General\voxelSize1=0
 General\decimation1=2
 General\maxDepth1=0