diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7fbeab17..45374d65 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -220,9 +220,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES
    launch/rgbd_mapping.launch
-   launch/rgbd_mapping_rviz.launch
    launch/rgbd_localization.launch
-   launch/rgbd_localization_rviz.launch
    launch/data_recorder.launch
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
diff --git a/launch/demo/demo_multi-session_mapping.launch b/launch/demo/demo_multi-session_mapping.launch
index 457371ae..2cd53ad9 100644
--- a/launch/demo/demo_multi-session_mapping.launch
+++ b/launch/demo/demo_multi-session_mapping.launch
@@ -2,9 +2,15 @@
 <launch>
 
    <!-- MULTI-SESSION MAPPING VERSION -->
+   
+   <!-- Choose visualization -->
+  <arg name="rviz" default="false" />
+  <arg name="rtabmapviz" default="true" />
 
   <param name="use_sim_time" type="bool" value="True"/>
 
+  <group ns="rtabmap">
+  
   <!-- SLAM (robot side) -->
   <!-- args: "delete_db_on_start" and "udebug" -->
   <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
@@ -16,9 +22,9 @@
 	<remap from="odom" to="/base_controller/odom"/>
 	<remap from="scan" to="/base_scan"/>
 
-	<remap from="rgb/image" to="data_throttled_image"/>
-  	<remap from="depth/image" to="data_throttled_image_depth"/>
-  	<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
+	<remap from="rgb/image" to="/data_throttled_image"/>
+  	<remap from="depth/image" to="/data_throttled_image_depth"/>
+  	<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
   	
   	<param name="rgb/image_transport" type="string" value="compressed"/>
     <param name="depth/image_transport" type="string" value="compressedDepth"/>
@@ -47,21 +53,43 @@
 	<param name="Kp/NNStrategy" type="string" value="1"/>         <!-- kdTree -->
   </node>
   
-  <!-- Visualisation (client side) -->
-  <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
+  <!-- Visualisation RTAB-Map -->
+  <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
   	  <param name="subscribe_depth" type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="true"/>
       <param name="queue_size" type="int" value="10"/>
       <param name="frame_id" type="string" value="base_footprint"/>
     
-      <remap from="rgb/image" to="data_throttled_image"/>
-      <remap from="depth/image" to="data_throttled_image_depth"/>
-      <remap from="rgb/camera_info" to="data_throttled_camera_info"/>
+      <remap from="rgb/image" to="/data_throttled_image"/>
+      <remap from="depth/image" to="/data_throttled_image_depth"/>
+      <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
       <remap from="scan" to="/base_scan"/>
       <remap from="odom" to="/base_controller/odom"/>
       
       <param name="rgb/image_transport" type="string" value="compressed"/>
       <param name="depth/image_transport" type="string" value="compressedDepth"/>
   </node>
+  
+  <!-- Grid map assembler for rviz -->
+  <node if="$(arg rviz)" pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
+   	<param name="unknown_space_filled" type="bool" value="false"/>
+  </node>
+  
+  </group>
+    
+  <!-- Visualisation RVIZ -->
+  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz"/>
+  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
+    <remap from="rgb/image"       to="/data_throttled_image"/>
+    <remap from="depth/image"     to="/data_throttled_image_depth"/>
+    <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
+    <remap from="cloud"           to="voxel_cloud" />
+    
+    <param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+    
+    <param name="queue_size" type="int" value="10"/>
+    <param name="voxel_size" type="double" value="0.01"/>
+  </node>
 
 </launch>