diff --git a/launch/azimut3/az3_mapping_robot.launch b/launch/azimut3/az3_mapping_robot.launch
index a96ae7aa..c596fbbf 100644
--- a/launch/azimut3/az3_mapping_robot.launch
+++ b/launch/azimut3/az3_mapping_robot.launch
@@ -39,20 +39,22 @@
 	  <param name="queue_size" type="int" value="10"/>
 	
 	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
-	  <param name="RGBD/ScanMatchingSize" type="string" value="0"/> 
-	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/> 
-	  <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> 
-	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
-	  <param name="LccIcp/Type" type="string" value="2"/>
+	  <param name="RGBD/ScanMatchingSize" type="string" value="1"/>             <!-- Do odometry correction with consecutive laser scans -->
+	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
+	  <param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/>    <!-- Local loop closure detection with locations in STM -->
+	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>      <!-- Don't ignore bad images for 3D node creation (e.g. white walls) -->
+	  <param name="LccIcp/Type" type="string" value="2"/>                       <!-- Loop closure transformation refining with ICP: 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
 	  <param name="LccIcp2/Iterations" type="string" value="100"/>
 	  <param name="LccIcp2/VoxelSize" type="string" value="0"/>
-	  <param name="LccBow/MinInliers" type="string" value="5"/>
-	  <param name="LccBow/MaxDepth" type="string" value="4.0"/>
-	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>
-	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>
-	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>
+	  <param name="LccBow/MinInliers" type="string" value="5"/>                 <!-- 3D visual words minimum inliers to accept loop closure -->
+	  <param name="LccBow/MaxDepth" type="string" value="4.0"/>                 <!-- 3D visual words maximum depth 0=infinity -->
+	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>           <!-- 3D visual words correspondence distance -->
+	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>             <!-- Update map only if the robot is moving -->
+	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>              <!-- Update map only if the robot is moving -->
 	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
-	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
+	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>   
+   	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
+
     </node>
   </group>
 </launch>