diff --git a/rtabmap/launch/loop_closure_detection.launch b/rtabmap/launch/loop_closure_detection.launch
index a2e5279d..a7c9a0a4 100644
--- a/rtabmap/launch/loop_closure_detection.launch
+++ b/rtabmap/launch/loop_closure_detection.launch
@@ -12,8 +12,8 @@
 	<node name="camera" pkg="rtabmap_image" type="camera" output="screen">
 		<remap from="/camera/image" to="/image"/>
 		<param name="device_id" value="0" type="int"/>
-		<param name="image_hz" value="1.0" type="double"/>
-		<param name="image_width" value="640" type="int"/>
-		<param name="image_height" value="480" type="int"/>
+		<param name="frame_rate" value="1.0" type="double"/>
+		<param name="width" value="640" type="int"/>
+		<param name="height" value="480" type="int"/>
 	</node>
 </launch>
diff --git a/rtabmap_image/cfg/Camera.cfg b/rtabmap_image/cfg/Camera.cfg
index 067964d9..208d7e49 100755
--- a/rtabmap_image/cfg/Camera.cfg
+++ b/rtabmap_image/cfg/Camera.cfg
@@ -6,8 +6,8 @@ from dynamic_reconfigure.parameter_generator import *
 
 gen = ParameterGenerator()
 
-gen.add("deviceId", int_t, 0, "Camera device ID", 0, 0, 7)
-gen.add("frameRate", double_t, 0, "Frame rate", 15.0, 0.0, 100.0)
+gen.add("device_id", int_t, 0, "Camera device ID", 0, 0, 7)
+gen.add("frame_rate", double_t, 0, "Frame rate", 15.0, 0.0, 100.0)
 gen.add("width", int_t, 0, "Width", 640, 1, 1920)
 gen.add("height", int_t, 0, "Image height", 480, 1, 1080)
 
diff --git a/rtabmap_image/launch/test_rtabmap_image.launch b/rtabmap_image/launch/test_rtabmap_image.launch
index b060e1fc..75b81e79 100644
--- a/rtabmap_image/launch/test_rtabmap_image.launch
+++ b/rtabmap_image/launch/test_rtabmap_image.launch
@@ -3,9 +3,9 @@
 	<node name="camera" pkg="rtabmap_image" type="camera" output="screen">
 		<remap from="camera/image" to="image"/>
 		<param name="device_id" value="0" type="int"/>
-		<param name="image_hz" value="0" type="double"/>
-		<param name="image_width" value="640" type="int"/>
-		<param name="image_height" value="480" type="int"/>
+		<param name="frame_rate" value="0" type="double"/>
+		<param name="width" value="640" type="int"/>
+		<param name="height" value="480" type="int"/>
 	</node>
 
 	<node name="rgb2ind" pkg="rtabmap_image" type="rgb2ind"/>
diff --git a/rtabmap_image/src/CameraNode.cpp b/rtabmap_image/src/CameraNode.cpp
index 6a7685da..7eddfa2f 100644
--- a/rtabmap_image/src/CameraNode.cpp
+++ b/rtabmap_image/src/CameraNode.cpp
@@ -154,7 +154,7 @@ void callback(rtabmap_image::cameraConfig &config, uint32_t level)
 {
 	if(camera)
 	{
-		camera->setParameters(config.deviceId, config.frameRate, config.width, config.height);
+		camera->setParameters(config.device_id, config.frame_rate, config.width, config.height);
 	}
 }