diff --git a/launch/demo/demo_robot_localization.launch b/launch/demo/demo_robot_localization.launch
index 7d923424..fc283241 100644
--- a/launch/demo/demo_robot_localization.launch
+++ b/launch/demo/demo_robot_localization.launch
@@ -33,9 +33,12 @@
     <param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
     <param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
     <param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
-    <param name="RGBD/ScanMatchingSize" type="string" value="1"/>  <!-- Do odometry correction with consecutive laser scans -->
+    <param name="Mem/InitWMWithAllNodes" type="string" value="true"/> <!-- Load the full global map in RAM -->
+    <param name="RGBD/PoseScanMatching" type="string" value="true"/>  <!-- Do odometry correction with consecutive laser scans -->
+	<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
 	<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> 
 	<param name="LccIcp/Type" type="string" value="2"/>                      <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
+	<param name="LccIcp2/MaxFitness" type="string" value="10"/>
 	<param name="LccBow/MaxDepth" type="string" value="0.0"/>                <!-- 3D visual words maximum depth 0=infinity -->
 	<param name="LccBow/InlierDistance" type="string" value="0.1"/>          <!-- 3D visual words correspondence distance -->
   </node>