diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index f55e735f..1a6a30c1 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -24,6 +24,10 @@
   <!-- Localization-only mode -->
   <arg name="localization"            default="false"/>
   
+  <!-- sim time for convenience, if playing a rosbag -->
+  <arg name="use_sim_time"            default="false"/>
+  <param if="$(arg use_sim_time)" name="use_sim_time" value="true"/>
+  
   <!-- Corresponding config files -->
   <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
   <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
@@ -59,6 +63,10 @@
   <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
   <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
   
+  <!-- Already synchronized RGB-D related topic, with rtabmap_ros/rgbd_sync nodelet -->
+  <arg name="subscribe_rgbd"          default="false"/>
+  <arg name="rgbd_topic"              default="/camera/rgbd_image" />
+  
   <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
   <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
   <arg name="depth_image_transport"   default="compressedDepth"/>  <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
@@ -104,6 +112,8 @@
         <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
         <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
         <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+        
+        <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
 	  
         <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
         <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
@@ -113,6 +123,7 @@
         <param name="approx_sync"                 type="bool"   value="$(arg approx_sync)"/>
         <param name="config_path"                 type="string" value="$(arg cfg)"/>
         <param name="queue_size"                  type="int"    value="$(arg queue_size)"/>
+        <param name="subscribe_rgbd"              type="bool"   value="$(arg subscribe_rgbd)"/>
       </node>
     </group>
     
@@ -143,6 +154,7 @@
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
       <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
       <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
+      <param unless="$(arg stereo)" name="subscribe_rgbd"  type="bool" value="$(arg subscribe_rgbd)"/>
       <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
       <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
       <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
@@ -164,6 +176,8 @@
       <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
       <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
       <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+      
+      <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
 	
       <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
       <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
@@ -186,6 +200,7 @@
     <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
       <param     if="$(arg stereo)" name="subscribe_depth"  type="bool" value="false"/>
       <param unless="$(arg stereo)" name="subscribe_depth"  type="bool" value="true"/>
+      <param unless="$(arg stereo)" name="subscribe_rgbd"  type="bool" value="$(arg subscribe_rgbd)"/>
       <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
       <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
       <param name="subscribe_scan_cloud" type="bool"   value="$(arg subscribe_scan_cloud)"/>
@@ -200,6 +215,8 @@
       <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
       <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
       
+      <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
+      
       <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
       <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
       <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>