diff --git a/examples/zed_rtabmap_example/README.md b/examples/zed_rtabmap_example/README.md
index 98483107..c2f0354f 100644
--- a/examples/zed_rtabmap_example/README.md
+++ b/examples/zed_rtabmap_example/README.md
@@ -25,10 +25,10 @@ To correctly use the ZED wrapper with the `rtabmap_ros` node we need to match th
 The values associated to the above parameters are the following:
 
 ```
-  <arg name="rgb_topic"               	default="/rgb/image_rect_color" />
-  <arg name="depth_topic"             	default="/depth/depth_registered" />
-  <arg name="camera_info_topic"       	default="/rgb/camera_info" />
-  <arg name="depth_camera_info_topic" 	default="/depth/camera_info" />
+  <arg name="rgb_topic"               	default="rgb/image_rect_color" />
+  <arg name="depth_topic"             	default="depth/depth_registered" />
+  <arg name="camera_info_topic"       	default="rgb/camera_info" />
+  <arg name="depth_camera_info_topic" 	default="depth/camera_info" />
   <arg name="camera_frame"              default="zed_camera_center" />
 ```
 
@@ -48,7 +48,10 @@ The corresponding parameters of the `rtabmap_ros` node are the following:
 - `depth_camera_info_topic` -> `depth_cam_info_topic`
 - `camera_frame` -> `frame_id`
 
-
+**Note**: the example as been tested using the packages `rtabmap v0.17.6` and `rtabmap_ros v0.17.6` available with the binary version of ROS Kinetic. To check the version of RTABmap currently installed on your system you can use the commands:
+`$ rosversion rtabmap`
+and
+`$ rosversion rtabmap_ros`
 
 
 
diff --git a/examples/zed_rtabmap_example/launch/zed_rtabmap.launch b/examples/zed_rtabmap_example/launch/zed_rtabmap.launch
index b57ddc51..bf544da3 100644
--- a/examples/zed_rtabmap_example/launch/zed_rtabmap.launch
+++ b/examples/zed_rtabmap_example/launch/zed_rtabmap.launch
@@ -17,51 +17,56 @@ THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 -->
 <launch>
-  <arg name="zed_namespace"		    	default="zed" />
+    <arg name="zed_namespace"		    	default="zed" />
 
-  <arg name="svo_file"              	default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
+    <arg name="svo_file"              	default="" /> <!-- <arg name="svo_file" default="path/to/svo/file.svo"> -->
 
-  <arg name="camera_model"         	default="1" /> <!-- 0=ZED, 1=ZEDM-->
-  <arg name="serial_number"        	default="0" />
-  <arg name="verbose"              	default="true" />
-  <arg name="resolution"           	default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA -->
-  <arg name="frame_rate"           	default="30" />
-  <!-- RESOLUTION_HD2K   -> 2208*1242, available framerates: 15 fps.
+    <arg name="camera_model"         	default="1" /> <!-- 0=ZED, 1=ZEDM-->
+    <arg name="serial_number"        	default="0" />
+    <arg name="verbose"              	default="true" />
+    <arg name="resolution"           	default="2" /> <!--0=RESOLUTION_HD2K, 1=RESOLUTION_HD1080, 2=RESOLUTION_HD720, 3=RESOLUTION_VGA -->
+    <arg name="frame_rate"           	default="30" />
+    <!-- RESOLUTION_HD2K   -> 2208*1242, available framerates: 15 fps.
        RESOLUTION_HD1080 -> 1920*1080, available framerates: 15, 30 fps.
        RESOLUTION_HD720  -> 1280*720,  available framerates: 15, 30, 60 fps.
        RESOLUTION_VGA    -> 672*376,   available framerates: 15, 30, 60, 100 fps. -->
 
-  <arg name="rgb_topic"               	default="/rgb/image_rect_color" />
-  <arg name="depth_topic"             	default="/depth/depth_registered" />
-  <arg name="camera_info_topic"       	default="/rgb/camera_info" />
-  <arg name="depth_camera_info_topic" 	default="/depth/camera_info" />
-  <arg name="camera_frame"              default="zed_camera_center" />
+    <arg name="rgb_topic"               	default="rgb/image_rect_color" />
+    <arg name="depth_topic"             	default="depth/depth_registered" />
+    <arg name="camera_info_topic"       	default="rgb/camera_info" />
+    <arg name="depth_camera_info_topic" 	default="depth/camera_info" />
+    <arg name="camera_frame"              default="zed_camera_center" />
 
-  <group ns="$(arg zed_namespace)">
-	<!-- ZED Wrapper Node-->
-	<include file="$(find zed_wrapper)/launch/zed_camera.launch">
-	  <arg name="svo_file"            	value="$(arg svo_file)" />
-	  <arg name="camera_model"        	value="$(arg camera_model)" />
-	  <arg name="serial_number"       	value="$(arg serial_number)" /> 
-	  <arg name="resolution"          	value="$(arg resolution)" />
-	  <arg name="frame_rate"          	value="$(arg frame_rate)" />
-	  <arg name="verbose"             	value="$(arg verbose)" />
-	    
-	  <arg name="rgb_topic"             value="$(arg rgb_topic)" />
-	  <arg name="depth_topic"           value="$(arg depth_topic)" />
-	  <arg name="rgb_info_topic"       	value="$(arg camera_info_topic)" />
-	  <arg name="depth_cam_info_topic" 	value="$(arg depth_camera_info_topic)" />
-	  <arg name="base_frame"            value="$(arg camera_frame)" />
-	</include>
+    <group ns="$(arg zed_namespace)">
+        <!-- ZED Wrapper Node-->
+        <include file="$(find zed_wrapper)/launch/zed_camera.launch">
+          <arg name="svo_file"            	value="$(arg svo_file)" />
+          <arg name="camera_model"        	value="$(arg camera_model)" />
+          <arg name="serial_number"       	value="$(arg serial_number)" />
+          <arg name="resolution"          	value="$(arg resolution)" />
+          <arg name="frame_rate"          	value="$(arg frame_rate)" />
+          <arg name="verbose"             	value="$(arg verbose)" />
+
+          <arg name="rgb_topic"                 value="$(arg rgb_topic)" />
+          <arg name="depth_topic"               value="$(arg depth_topic)" />
+          <arg name="rgb_info_topic"       	value="$(arg camera_info_topic)" />
+          <arg name="depth_cam_info_topic" 	value="$(arg depth_camera_info_topic)" />
+          <arg name="base_frame"                value="$(arg camera_frame)" />
+
+          <arg name="publish_map_tf"            value="false" />
+        </include>
+    </group>
   
-	<!-- RTAB-map Node-->
-	<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
-	  <arg name="rtabmap_args"		        value="--delete_db_on_start" />
-	  <arg name="rgb_topic"               	value="$(arg rgb_topic)" />
-	  <arg name="depth_topic"             	value="$(arg depth_topic)" />
-	  <arg name="camera_info_topic"       	value="$(arg camera_info_topic)" />
-	  <arg name="depth_camera_info_topic" 	value="$(arg depth_camera_info_topic)" />
-	  <arg name="frame_id"                  value="$(arg camera_frame)" />
-	</include>
-  </group>
+    <!-- RTAB-map Node-->
+    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
+      <arg name="rtabmap_args"		value="--delete_db_on_start" />
+      <arg name="rgb_topic"               	value="/$(arg zed_namespace)/$(arg rgb_topic)" />
+      <arg name="depth_topic"             	value="/$(arg zed_namespace)/$(arg depth_topic)" />
+      <arg name="camera_info_topic"       	value="/$(arg zed_namespace)/$(arg camera_info_topic)" />
+      <arg name="depth_camera_info_topic" 	value="/$(arg zed_namespace)/$(arg depth_camera_info_topic)" />
+      <arg name="frame_id"                  value="$(arg camera_frame)" />
+      <arg name="approx_sync"               value="false" />
+      <arg name="visual_odometry"           value="false" />
+      <arg name="odom_topic"                value="/$(arg zed_namespace)/odom" />
+    </include>
 </launch>