diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index b40e848..6b838ec 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -9,18 +9,24 @@
         name="no_record" default="false" />
     <arg name="use_wls_filter" default="true" />
 
+    <arg name="nodelet_manager" default="$(arg name)_mapping_nodelet_manager" />
+
+    <node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" />
+
     <node
         pkg="nodelet" type="nodelet" name="rectify_color"
-        args="load image_proc/rectify $(arg  name)_nodelet_manager" if="$(arg
+        args="load image_proc/rectify $(arg  nodelet_manager)" if="$(arg
     rectify_rgb)"
         required="true">
         <remap from="image_mono" to="$(arg name)/rgb/image_raw" />
         <remap from="image_rect" to="$(arg name)/rgb/image_rect" />
     </node>
 
-    <node pkg="nodelet"
-        type="nodelet" name="rectify_left"
-        args="load image_proc/rectify $(arg  name)_nodelet_manager">
+    <node 
+        pkg="nodelet"
+        type="nodelet" 
+        name="rectify_left"
+        args="load image_proc/rectify $(arg  nodelet_manager)">
         <remap from="image_mono" to="$(arg name)/left/image_raw" />
         <remap from="image_rect" to="$(arg name)/left/image_rect" />
     </node>
@@ -33,9 +39,12 @@
     </node -->
 
 
-    <node name="wls"
-        pkg="nodelet" type="nodelet" output="screen"
-        required="true" args="load depthai_filters/WLSFilter $(arg name)_nodelet_manager"
+    <node 
+        pkg="nodelet" 
+        type="nodelet"
+        name="wls"
+        args="load depthai_filters/WLSFilter $(arg nodelet_manager)"
+        required="true" 
         if="$(arg use_wls_filter)">
         <remap from="/stereo/image_raw" to="$(arg name)/stereo/image_raw" />
         <remap
@@ -47,7 +56,9 @@
     </node>
 
     <node
-        pkg="nodelet" type="nodelet" name="depth_image_to_rgb_pointcloud"
+        pkg="nodelet" 
+        type="nodelet" 
+        name="depth_image_to_rgb_pointcloud"
         args="load depth_image_proc/point_cloud_xyzrgb $(arg  name)_nodelet_manager"
         required="true">
         <param name="queue_size" value="10" />
@@ -66,7 +77,8 @@
     </node>
 
     <node
-        name="store_pointclouds" pkg="pcl_ros" type="pointcloud_to_pcd"
+    pkg="pcl_ros" type="pointcloud_to_pcd"
+        name="store_pointclouds" 
         unless="$(arg no_record)">
         <remap from="input" to="/points" />
         <param name="fixed_frame" value="world" />