diff --git a/launch/tests/test_odometry.launch b/launch/tests/test_odometry.launch
deleted file mode 100644
index 7cce2a8b..00000000
--- a/launch/tests/test_odometry.launch
+++ /dev/null
@@ -1,61 +0,0 @@
-
-<launch>
-
-  <!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
-        -Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-        -Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE 
-           Set to 1 for float descriptor like SIFT/SURF                  
-           Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK      
-        -Local map size: number of unique features to keep track 
-    -->
-   <arg name="type" default="6" />
-   <arg name="nn" default="3" />
-   <arg name="local_map" default="2000" />
-  
-  <!-- TF FRAMES -->
-  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
-  	args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
-   
-   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
-   
-  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
-  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
-    <remap from="rgb/image_in"       to="camera/rgb/image_rect_color"/>
-    <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
-    <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
-    <remap from="odom_in"             to="odom"/>
-    
-    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
-    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
-    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
-    <remap from="odom_out"            to="odom_sync"/>
-    
-    <param name="queue_size" type="int" value="30"/>
-  </node>
-  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
-    <remap from="rgb/image"       to="data_odom_sync/image"/>
-    <remap from="depth/image"     to="data_odom_sync/depth"/>
-    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
-    <remap from="cloud"           to="voxel_cloud" />
-    
-    <param name="queue_size" type="int" value="10"/>
-    <param name="voxel_size" type="double" value="0.01"/>
-  </node>
-  
-  <!-- Odometry -->
-  <node pkg="rtabmap_ros" type="visual_odometry" name="visual_odometry" output="screen">
-  	<remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
-  	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>
-  	<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
-	<remap from="odom" to="odom"/>
-    
-  	<param name="frame_id" type="string" value="base_link"/>
-  	
-  	<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
-  	<param name="Odom/Type" type="string" value="$(arg type)"/>            
-  	<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
-  	<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
-  </node>
-  
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/test_odometry.rviz"/>
-</launch>
diff --git a/launch/tests/test_stereo_data_recorder.launch b/launch/tests/test_stereo_data_recorder.launch
deleted file mode 100644
index 0f523a58..00000000
--- a/launch/tests/test_stereo_data_recorder.launch
+++ /dev/null
@@ -1,56 +0,0 @@
-<launch>
-    
-    <node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
-	    <param name="video_mode" value="format7_mode3" />
-	    <param name="format7_color_coding" value="raw16" />
-	    <param name="bayer_pattern" value="bggr" />
-	    <param name="bayer_method" value="" />
-	    <param name="stereo_method" value="Interlaced" />
-	    <param name="camera_info_url_left" value="" />
-	    <param name="camera_info_url_right" value="" />
-  	</node>
-  	
-  	<arg name="pi/2" value="1.5707963267948966" />
-    <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
-  	<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
-        args="$(arg optical_rotate) base_link stereo_camera 100" />  
-  	
-  	<!-- Run the ROS package stereo_image_proc -->
-	<group ns="/stereo_camera" >
-		<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
-			<remap from="left/image"       to="left/image_raw"/>
-		    <remap from="right/image"      to="right/image_raw"/>
-		    <remap from="left/camera_info" to="left/camera_info"/>
-		    <remap from="right/camera_info" to="right/camera_info"/>
-		    
-		    <param name="queue_size" type="int" value="10"/>
-		    <param name="rate" type="double" value="20"/>
-		</node>
-		
-		<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
-			<remap from="left/image_raw"    to="left/image_raw_throttle"/>
-			<remap from="left/camera_info"  to="left/camera_info_throttle"/>
-			<remap from="right/image_raw"   to="right/image_raw_throttle"/>
-			<remap from="right/camera_info" to="right/camera_info_throttle"/>
-		</node>
-	</group>
-	
-  <node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
-	<param name="output_file_name" value="output.db" type="string"/>  
-	
-	<param name="frame_id" type="string" value="base_link"/>
-	
-	<param name="subscribe_odometry" type="bool" value="false"/>
-	<param name="subscribe_depth" type="bool" value="false"/>
-	<param name="subscribe_stereo" type="bool" value="true"/>
-	<param name="queue_size" type="int" value="20"/>
-
-	<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
-  	<remap from="right/image_rect" to="/stereo_camera/right/image_rect_color"/>
-  	<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
-  	<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
-	
-	<param name="queue_size" type="int" value="10"/>
-  </node>
-  
-</launch>
\ No newline at end of file
diff --git a/launch/tests/test_stereo_odometry.launch b/launch/tests/test_stereo_odometry.launch
deleted file mode 100644
index ff12a1c4..00000000
--- a/launch/tests/test_stereo_odometry.launch
+++ /dev/null
@@ -1,48 +0,0 @@
-<launch>
-      
-    <node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
-	    <param name="video_mode" value="format7_mode3" />
-	    <param name="format7_color_coding" value="raw16" />
-	    <param name="bayer_pattern" value="bggr" />
-	    <param name="bayer_method" value="" />
-	    <param name="stereo_method" value="Interlaced" />
-	    <param name="camera_info_url_left" value="" />
-	    <param name="camera_info_url_right" value="" />
-  	</node>
-  	
-  	<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="camera_base_link"
-        args="$(arg optical_rotate) base_link stereo_camera 100" />  
-  	
-  	<!-- Run the ROS package stereo_image_proc -->
-	<group ns="/stereo_camera" >
-		<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
-		
-		<!-- Odometry -->
-		<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
-	  	  	<remap from="left/image_rect"       to="left/image_rect"/>
-	  	  	<remap from="right/image_rect"      to="right/image_rect"/>
-	  	  	<remap from="left/camera_info"      to="left/camera_info"/>
-	  	  	<remap from="right/camera_info"     to="right/camera_info"/>
-		  	<remap from="odom" to="odom_stereo"/>
-	    
-	  	  	<param name="frame_id" type="string" value="base_link"/>
-	  	  	<param name="odom_frame_id" type="string" value="odom"/>
-	  	  	<param name="approx_sync" type="bool" value="false"/>
-	  	  	<param name="queue_size" type="int" value="5"/>
-
-			<param name="Odom/InlierDistance" type="string" value="0.1"/>
-	  		<param name="Odom/MinInliers" type="string" value="10"/>
-	  		<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
-	  		<param name="Odom/MaxDepth" type="string" value="10"/>
-      
-	  		<param name="GFTT/MaxCorners" type="string" value="500"/>
-	  		<param name="GFTT/MinDistance" type="string" value="5"/>
-	  	</node>		
-	</group>
-  
-  
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/test_odometry.rviz"/>
-  
-</launch>
\ No newline at end of file