diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index e1e68830..a1cd9142 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -36,15 +36,15 @@
   <arg name="wait_for_transform"      default="0.1"/>
   
   <!-- Odometry parameters: -->
-  <arg name="strategy"            default="0" />       <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
+  <arg name="strategy"            default="0" />       <!-- Strategy: 0=Frame-to-Map 1=Frame-to-Frame -->
   <arg name="feature"             default="6" />       <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
   <arg name="estimation"          default="0" />       <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
-  <arg name="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
+  <arg name="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE -->
   <arg name="max_depth"           default="0" />       <!-- Maximum features depth (m) -->
   <arg name="min_inliers"         default="20" />      <!-- Minimum visual correspondences to accept a transformation (m) -->
   <arg name="inlier_distance"     default="0.1" />     <!-- RANSAC maximum inliers distance (m) -->
   <arg name="local_map"           default="1000" />    <!-- Local map size: number of unique features to keep track -->
-  <arg name="variance_inliers"    default="true"/>    <!-- Variance from inverse of inliers count -->  
+  <arg name="variance_inliers"    default="true"/>     <!-- Variance from inverse of inliers count -->  
         
   <!-- Nodes -->
   <group ns="$(arg namespace)">
@@ -53,7 +53,7 @@
     <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_registered_topic) raw out:=$(arg depth_registered_topic)" />
   
     <!-- Odometry -->
-    <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
+    <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
       <remap from="rgb/image"       to="$(arg rgb_topic)"/>
       <remap from="depth/image"     to="$(arg depth_registered_topic)"/>
       <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -62,15 +62,15 @@
 	  <param name="wait_for_transform_duration"       type="double"   value="$(arg wait_for_transform)"/>
 	  
 	  <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
-	  <param name="Odom/FeatureType"         type="string" value="$(arg feature)"/>  
-	  <param name="OdomBow/NNType"           type="string" value="$(arg nn)"/>
-	  <param name="Odom/EstimationType"      type="string" value="$(arg estimation)"/> 
-	  <param name="Odom/MaxDepth"            type="string" value="$(arg max_depth)"/>  
-	  <param name="Odom/MinInliers"          type="string" value="$(arg min_inliers)"/> 
-	  <param name="Odom/InlierDistance"      type="string" value="$(arg inlier_distance)"/>       
-      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/> 
+	  <param name="Vis/FeatureType"          type="string" value="$(arg feature)"/>  
+	  <param name="Vis/CorNNType"            type="string" value="$(arg nn)"/>
+	  <param name="Vis/EstimationType"       type="string" value="$(arg estimation)"/> 
+	  <param name="Vis/MaxDepth"             type="string" value="$(arg max_depth)"/>  
+	  <param name="Vis/MinInliers"           type="string" value="$(arg min_inliers)"/> 
+	  <param name="Vis/InlierDistance"       type="string" value="$(arg inlier_distance)"/>       
+      <param name="OdomF2M/MaxSize"          type="string" value="$(arg local_map)"/> 
       <param name="Odom/FillInfoData"        type="string" value="true"/> 
-      <param name="Odom/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>  
+      <param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>  
     </node>
   
     <!-- Visual SLAM (robot side) -->
@@ -87,13 +87,13 @@
       <remap from="scan"            to="$(arg scan_topic)"/>
       <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
       
-      <param name="Rtabmap/TimeThr"           type="string" value="$(arg time_threshold)"/>
-      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
-      <param name="LccBow/MinInliers"         type="string" value="10"/>
-      <param name="LccBow/InlierDistance"     type="string" value="$(arg inlier_distance)"/>
-      <param name="LccBow/EstimationType"     type="string" value="$(arg estimation)"/> 
-      <param name="LccBow/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
-      <param name="Mem/SaveDepth16Format"     type="string" value="$(arg convert_depth_to_mm)"/>
+      <param name="Rtabmap/TimeThr"              type="string" value="$(arg time_threshold)"/>
+      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="$(arg optimize_from_last_node)"/>
+      <param name="Vis/MinInliers"               type="string" value="$(arg min_inliers)"/>
+      <param name="Vis/InlierDistance"           type="string" value="$(arg inlier_distance)"/>
+      <param name="Vis/EstimationType"           type="string" value="$(arg estimation)"/> 
+      <param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
+      <param name="Mem/SaveDepth16Format"        type="string" value="$(arg convert_depth_to_mm)"/>
       
       <!-- when 2D scan is set -->
       <param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D"          type="string" value="true"/>
@@ -104,10 +104,10 @@
   
     <!-- Visualisation RTAB-Map -->
     <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
-      <param name="subscribe_depth"     type="bool"   value="true"/>
-      <param name="subscribe_laserScan"      type="bool"   value="$(arg subscribe_scan)"/>
-      <param name="subscribe_odom_info" type="bool"   value="$(arg visual_odometry)"/>
-      <param name="frame_id"            type="string" value="$(arg frame_id)"/>
+      <param name="subscribe_depth"       type="bool"   value="true"/>
+      <param name="subscribe_laserScan"   type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_odom_info"   type="bool"   value="$(arg visual_odometry)"/>
+      <param name="frame_id"              type="string" value="$(arg frame_id)"/>
       <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
     
       <remap from="rgb/image"       to="$(arg rgb_topic)"/>
diff --git a/launch/rgbd_mapping_kinect2.launch b/launch/rgbd_mapping_kinect2.launch
index db42349e..55c76c37 100644
--- a/launch/rgbd_mapping_kinect2.launch
+++ b/launch/rgbd_mapping_kinect2.launch
@@ -30,7 +30,7 @@
    <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
   
    <!-- ODOMETRY MAIN ARGUMENTS: 
-        -"strategy"        : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
+        -"strategy"        : Strategy: Frame-to-Map 1=Frame-To-Frame
         -"feature"         : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
         -"nn"              : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE 
                              Set to 1 for float descriptor like SIFT/SURF                  
@@ -63,14 +63,14 @@
       <param name="approx_sync" type="bool" value="true"/>
 	  
       <param name="Odom/Strategy" type="string" value="$(arg strategy)"/> 
-      <param name="Odom/FeatureType" type="string" value="$(arg feature)"/>  
-      <param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
-      <param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>  
-      <param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/> 
-      <param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>       
-      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
+      <param name="Vis/FeatureType" type="string" value="$(arg feature)"/>  
+      <param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
+      <param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>  
+      <param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/> 
+      <param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>       
+      <param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
       <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
-      <param name="Odom/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
+      <param name="Vis/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
       <param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
     </node>
   
@@ -86,8 +86,8 @@
 
       <param name="approx_sync" type="bool" value="true"/>
 
-      <param name="LccBow/MinInliers" type="string" value="10"/>
-      <param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
+      <param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
+      <param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
     </node>
   
     <!-- Visualisation RTAB-Map -->
diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index e1593bb6..45089f93 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -76,7 +76,7 @@
       <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
       <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
   
-      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
         <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
         <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
         <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
@@ -93,7 +93,7 @@
       <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
       <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
   
-      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
+      <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
         <remap from="left/image_rect"        to="$(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)"/>
diff --git a/launch/stereo_mapping.launch b/launch/stereo_mapping.launch
index d3cc7f89..708658d6 100644
--- a/launch/stereo_mapping.launch
+++ b/launch/stereo_mapping.launch
@@ -18,6 +18,7 @@
   <arg name="optimize_from_last_node" default="false"/>         <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
   <arg name="database_path"           default="~/.ros/rtabmap.db"/>
   <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
+  <arg name="launch_prefix"           default=""/>
   
   <arg name="stereo_namespace"        default="/stereo_camera"/>
   <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
@@ -26,6 +27,7 @@
   <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
   <arg name="approximate_sync"        default="false"/>         <!-- if timestamps of the stereo images are not synchronized -->
   <arg name="compressed"              default="false"/>
+  <arg name="convert_depth_to_mm"     default="true"/>
    
   <arg name="subscribe_scan"          default="false"/>         <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
   <arg name="scan_topic"              default="/scan"/>
@@ -37,15 +39,14 @@
   <arg name="wait_for_transform"      default="0.1"/>
   
   <!-- Odometry parameters: -->
-  <arg name="strategy"            default="0" />       <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
+  <arg name="strategy"            default="0" />       <!-- Strategy: 0=Frame-to-Map 1=Frame-to-Frame -->
   <arg name="feature"             default="6" />       <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
   <arg name="estimation"          default="1" />       <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
-  <arg name="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
+  <arg name="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE 2=FLANN_LSH, 3=BRUTEFORCE -->
   <arg name="max_depth"           default="0" />       <!-- Maximum features depth (m) -->
   <arg name="min_inliers"         default="20" />      <!-- Minimum visual correspondences to accept a transformation (m) -->
   <arg name="inlier_distance"     default="0.1" />     <!-- RANSAC maximum inliers distance (m) -->
   <arg name="local_map"           default="1000" />    <!-- Local map size: number of unique features to keep track -->
-  <arg name="odom_info_data"      default="true" />    <!-- Fill odometry info messages with inliers/outliers data. -->
   <arg name="variance_inliers"    default="true"/>    <!-- Variance from inverse of inliers count -->  
         
   <!-- Nodes -->
@@ -55,7 +56,7 @@
     <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic)" />
   
     <!-- Odometry -->
-    <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
+    <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
       <remap from="left/image_rect"        to="$(arg left_image_topic)"/>
       <remap from="right/image_rect"       to="$(arg right_image_topic)"/>
       <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
@@ -65,21 +66,21 @@
       <param name="wait_for_transform_duration"       type="double"   value="$(arg wait_for_transform)"/>
       <param name="approx_sync"              type="bool"   value="$(arg approximate_sync)"/>
 	  
-      <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
-      <param name="Odom/FeatureType"         type="string" value="$(arg feature)"/>  
-      <param name="OdomBow/NNType"           type="string" value="$(arg nn)"/>
-      <param name="Odom/EstimationType"      type="string" value="$(arg estimation)"/> 
-      <param name="Odom/MaxDepth"            type="string" value="$(arg max_depth)"/>  
-      <param name="Odom/MinInliers"          type="string" value="$(arg min_inliers)"/> 
-      <param name="Odom/InlierDistance"      type="string" value="$(arg inlier_distance)"/>       
-      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/> 
-      <param name="Odom/FillInfoData"        type="string" value="true"/>   
-      <param name="Odom/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
+	  <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
+	  <param name="Vis/FeatureType"          type="string" value="$(arg feature)"/>  
+	  <param name="Vis/CorNNType"            type="string" value="$(arg nn)"/>
+	  <param name="Vis/EstimationType"       type="string" value="$(arg estimation)"/> 
+	  <param name="Vis/MaxDepth"             type="string" value="$(arg max_depth)"/>  
+	  <param name="Vis/MinInliers"           type="string" value="$(arg min_inliers)"/> 
+	  <param name="Vis/InlierDistance"       type="string" value="$(arg inlier_distance)"/>       
+      <param name="OdomF2M/MaxSize"          type="string" value="$(arg local_map)"/> 
+      <param name="Odom/FillInfoData"        type="string" value="true"/> 
+      <param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>  
     </node>
   
     <!-- Visual SLAM (robot side) -->
     <!-- args: "delete_db_on_start" and "udebug" -->
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
       <param name="subscribe_depth"     type="bool"   value="false"/>
       <param name="subscribe_stereo"    type="bool"   value="true"/>
       <param name="subscribe_laserScan"      type="bool"   value="$(arg subscribe_scan)"/>
@@ -95,12 +96,13 @@
       <remap from="scan"                   to="$(arg scan_topic)"/>
       <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
       
-      <param name="Rtabmap/TimeThr"           type="string" value="$(arg time_threshold)"/>
-      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
-      <param name="LccBow/MinInliers"         type="string" value="10"/>
-      <param name="LccBow/InlierDistance"     type="string" value="$(arg inlier_distance)"/>
-      <param name="LccBow/EstimationType"     type="string" value="$(arg estimation)"/> 
-      <param name="LccBow/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
+      <param name="Rtabmap/TimeThr"              type="string" value="$(arg time_threshold)"/>
+      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="$(arg optimize_from_last_node)"/>
+      <param name="Vis/MinInliers"               type="string" value="$(arg min_inliers)"/>
+      <param name="Vis/InlierDistance"           type="string" value="$(arg inlier_distance)"/>
+      <param name="Vis/EstimationType"           type="string" value="$(arg estimation)"/> 
+      <param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
+      <param name="Mem/SaveDepth16Format"        type="string" value="$(arg convert_depth_to_mm)"/>
       
       <!-- when 2D scan is set -->
       <param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D"          type="string" value="true"/>
@@ -110,12 +112,12 @@
     </node>
   
     <!-- Visualisation RTAB-Map -->
-    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
-      <param name="subscribe_depth"      type="bool"   value="false"/>
-      <param name="subscribe_stereo"     type="bool"   value="true"/>
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
+      <param name="subscribe_depth"           type="bool"   value="false"/>
+      <param name="subscribe_stereo"          type="bool"   value="true"/>
       <param name="subscribe_laserScan"       type="bool"   value="$(arg subscribe_scan)"/>
-      <param name="subscribe_odom_info"  type="bool"   value="$(arg visual_odometry)"/>
-      <param name="frame_id"             type="string" value="$(arg frame_id)"/>
+      <param name="subscribe_odom_info"       type="bool"   value="$(arg visual_odometry)"/>
+      <param name="frame_id"                  type="string" value="$(arg frame_id)"/>
       <param name="wait_for_transform_duration"   type="double"   value="$(arg wait_for_transform)"/>
     
       <remap from="left/image_rect"        to="$(arg left_image_topic)"/>