diff --git a/rtabmap_conversions/CMakeLists.txt b/rtabmap_conversions/CMakeLists.txt
index 10aeff68..11b82f62 100644
--- a/rtabmap_conversions/CMakeLists.txt
+++ b/rtabmap_conversions/CMakeLists.txt
@@ -29,7 +29,7 @@ find_package(tf2 REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 
-find_package(RTABMap 0.23.4 REQUIRED)
+find_package(RTABMap 0.23.5 REQUIRED)
 
 include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/include
diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp
index 6c302c22..c2e7d08f 100644
--- a/rtabmap_slam/src/CoreWrapper.cpp
+++ b/rtabmap_slam/src/CoreWrapper.cpp
@@ -2431,8 +2431,8 @@ void CoreWrapper::process(
 				if(rtabmap_.getMemory() == 0 ||
 					filteredPoses.size() == 0 ||
 					rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first ||
-					rtabmap_.getMemory()->getLastWorkingSignature() == 0 ||
-					rtabmap_.getMemory()->getLastWorkingSignature()->sensorData().gridCellSize() == 0 ||
+					rtabmap_.getMemory()->getLastWorkingSignature(true) == 0 ||
+					rtabmap_.getMemory()->getLastWorkingSignature(true)->sensorData().gridCellSize() == 0 ||
 					(!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
 				{
 					SensorData tmpData = data;
@@ -3845,9 +3845,9 @@ void CoreWrapper::getNodeDataCallback(
 			req->grid?"true":"false",
 			req->user_data?"true":"false");
 
-	if(req->ids.empty() && rtabmap_.getMemory() && rtabmap_.getMemory()->getLastWorkingSignature())
+	if(req->ids.empty() && rtabmap_.getMemory() && rtabmap_.getMemory()->getLastWorkingSignature(true))
 	{
-		req->ids.push_back(rtabmap_.getMemory()->getLastWorkingSignature()->id());
+		req->ids.push_back(rtabmap_.getMemory()->getLastWorkingSignature(true)->id());
 	}
 	for(size_t i=0; i<req->ids.size(); ++i)
 	{
@@ -3885,6 +3885,8 @@ void CoreWrapper::getMapDataCallback(
 			!req->graph_only,
 			!req->graph_only,
 			!req->graph_only,
+			!req->graph_only,
+			!req->graph_only,
 			!req->graph_only);
 
 	mapToOdomMutex_.lock();
@@ -3911,13 +3913,15 @@ void CoreWrapper::getMapData2Callback(
 		const std::shared_ptr<rtabmap_msgs::srv::GetMap2::Request> req,
 		std::shared_ptr<rtabmap_msgs::srv::GetMap2::Response> res)
 {
-	RCLCPP_INFO(get_logger(), "rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s)...",
+	RCLCPP_INFO(get_logger(), "rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s with_words=%s with_global_descriptors=%s)...",
 			req->global_map?"true":"false",
 			req->optimized?"true":"false",
 			req->with_images?"true":"false",
 			req->with_scans?"true":"false",
 			req->with_user_data?"true":"false",
-			req->with_grids?"true":"false");
+			req->with_grids?"true":"false",
+			req->with_words?"true":"false",
+			req->with_global_descriptors?"true":"false");
 	std::map<int, Signature> signatures;
 	std::map<int, Transform> poses;
 	std::multimap<int, rtabmap::Link> constraints;