diff --git a/apps/hdl_graph_slam_nodelet.cpp b/apps/hdl_graph_slam_nodelet.cpp
index 92bb3236..1579280c 100644
--- a/apps/hdl_graph_slam_nodelet.cpp
+++ b/apps/hdl_graph_slam_nodelet.cpp
@@ -76,7 +76,7 @@ class HdlGraphSlamNodelet : public nodelet::Nodelet {
     private_nh = getPrivateNodeHandle();
 
     // init parameters
-    published_odom_topic = private_nh.param<std::string>("published_odom_topic", "/hdl_graph_slam/odom");
+    published_odom_topic = private_nh.param<std::string>("published_odom_topic", "/odom");
     map_frame_id = private_nh.param<std::string>("map_frame_id", "map");
     odom_frame_id = private_nh.param<std::string>("odom_frame_id", "odom");
     map_cloud_resolution = private_nh.param<double>("map_cloud_resolution", 0.05);
@@ -826,7 +826,7 @@ class HdlGraphSlamNodelet : public nodelet::Nodelet {
     graph_slam->load(directory + "/graph.g2o");
     
     // Load keyframes by looping through key frame indexes that we expect to see.
-    for(int i = 0; i < 1000; i++) { // un magic this max iterator
+    for(int i = 0; i < 10000; i++) { // un magic this max iterator
       std::stringstream sst;
       sst << boost::format("%s/%06d") % directory % i;
       std::string keyframeDir = sst.str();
diff --git a/apps/scan_matching_odometry_nodelet.cpp b/apps/scan_matching_odometry_nodelet.cpp
index b880d68a..d1118829 100644
--- a/apps/scan_matching_odometry_nodelet.cpp
+++ b/apps/scan_matching_odometry_nodelet.cpp
@@ -64,7 +64,7 @@ class ScanMatchingOdometryNodelet : public nodelet::Nodelet {
    */
   void initialize_params() {
     auto& pnh = private_nh;
-    published_odom_topic = private_nh.param<std::string>("published_odom_topic", "/hdl_graph_slam/odom");
+    published_odom_topic = private_nh.param<std::string>("published_odom_topic", "/odom");
     points_topic = pnh.param<std::string>("points_topic", "/velodyne_points");
     odom_frame_id = pnh.param<std::string>("odom_frame_id", "odom");
     robot_odom_frame_id = pnh.param<std::string>("robot_odom_frame_id", "robot_odom");
diff --git a/launch/hdl_graph_slam.launch b/launch/hdl_graph_slam.launch
index a4fea6c0..92923fb9 100644
--- a/launch/hdl_graph_slam.launch
+++ b/launch/hdl_graph_slam.launch
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
   <!-- arguments -->
-  <arg name="nodelet_manager" default="hdl_graph_slam_nodelet_manager" />
-  <arg name="enable_floor_detection" default="true" />
-  <arg name="enable_gps" default="true" />
+  <arg name="nodelet_manager" default="velodyne_nodelet_manager" />
+  <arg name="enable_floor_detection" default="false" />
+  <arg name="enable_gps" default="false" />
   <arg name="enable_imu_acc" default="false" />
   <arg name="enable_imu_ori" default="false" />
 
@@ -13,15 +13,15 @@
   <!-- topic for hdl to find velodyne points -->
   <arg name="points_topic" default="/velodyne_points" />
   <!-- what should the map frame be called -->
-  <arg name="map_frame_id" default="slam_map" />
+  <arg name="map_frame_id" default="map" />
   <!-- what should the base link frame be called -->
-  <arg name="base_link_frame_id" default="slam_base_link" />
+  <arg name="base_link_frame_id" default="base_link" />
   <!-- what should the odom frame be called -->
-  <arg name="lidar_odom_frame_id" default="slam_odom" />
+  <arg name="lidar_odom_frame_id" default="odom" />
 
   <!-- hdl_graph_slam will also publish an odom message -->
   <!-- what should the topic be for odom messages published by hdl-graph-slam -->
-  <arg name="published_odom_topic" default="/hdl_graph_slam/odom" />
+  <arg name="published_odom_topic" default="/odom" />
 
   <!-- optional arguments -->
   <arg name="enable_robot_odometry_init_guess" default="false" />
diff --git a/src/hdl_graph_slam/map2odom_publisher.py b/src/hdl_graph_slam/map2odom_publisher.py
index 6dd7d736..14da7bb8 100755
--- a/src/hdl_graph_slam/map2odom_publisher.py
+++ b/src/hdl_graph_slam/map2odom_publisher.py
@@ -6,7 +6,7 @@
 
 
 class Map2OdomPublisher:
-	def __init__(self, odom_frame_id = 'slam_odom', map_frame_id = 'slam_map'):
+	def __init__(self, odom_frame_id = 'odom', map_frame_id = 'map'):
 		self.default_odom_frame_id = odom_frame_id
 		self.default_map_frame_id = map_frame_id
 		self.broadcaster = tf.TransformBroadcaster()
@@ -34,8 +34,8 @@ def main():
 	rospy.init_node('map2odom_publisher')
 
 	# get some parameters to define what default frame_id's should be used while we wait for our first odom message
-	map_frame_id = rospy.get_param('~map_frame_id', 'slam_map')
-	odom_frame_id = rospy.get_param('~odom_frame_id', 'slam_odom')
+	map_frame_id = rospy.get_param('~map_frame_id', 'map')
+	odom_frame_id = rospy.get_param('~odom_frame_id', 'odom')
 
 	node = Map2OdomPublisher(odom_frame_id, map_frame_id)