diff --git a/src/rove_rtabmap/launch/rtabmap.py b/src/rove_rtabmap/launch/rtabmap.py
index 044b274..bcdb9a9 100644
--- a/src/rove_rtabmap/launch/rtabmap.py
+++ b/src/rove_rtabmap/launch/rtabmap.py
@@ -24,13 +24,14 @@ def generate_launch_description():
 # ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedm
 # ros2 launch rtabmap_launch rtabmap.launch.py \
 #     rtabmap_args:="--delete_db_on_start" \
+#     database_path:="/media/SSD/stable/rove/src/rove_rtabmap/maps/map.db" \
 #     rgb_topic:=/zed/zed_node/rgb/image_rect_color \
 #     depth_topic:=/zed/zed_node/depth/depth_registered \
 #     camera_info_topic:=/zed/zed_node/depth/camera_info \
 #     odom_topic:=/zed/zed_node/odom \
 #     imu_topic:=/zed/zed_node/imu/data \
 #     visual_odometry:=false \
-#     frame_id:=base_link \
+#     frame_id:=zed_camera_link \
 #     approx_sync:=false \
 #     rgbd_sync:=true \
 #     approx_rgbd_sync:=false
diff --git a/src/rove_zed/config/zed_mapping.yaml b/src/rove_zed/config/zed_mapping.yaml
index 7693ec3..10ef04d 100644
--- a/src/rove_zed/config/zed_mapping.yaml
+++ b/src/rove_zed/config/zed_mapping.yaml
@@ -1,6 +1,12 @@
 # Parameters to override zed_wrapper parameters 
 /**:
     ros__parameters:
+        general:
+            camera_model: 'zedm'
+            camera_name: 'zedm' # usually overwritten by launch file
+            grab_resolution: 'VGA' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
+            pub_frame_rate: 30.0 # frequency of publishing of visual images and depth images
+            grab_frame_rate: 30 # ZED SDK internal grabbing rate
         mapping:
             mapping_enabled: true # True to enable mapping and fused point cloud pubblication
             resolution: 0.05 # maps resolution in meters [min: 0.01f - max: 0.2f]
@@ -10,10 +16,10 @@
             pd_max_distance_threshold: 0.15 # Plane detection: controls the spread of plane by checking the position difference.
             pd_normal_similarity_threshold: 15.0 # Plane detection: controls the spread of plane by checking the angle difference
         depth:
-            depth_mode: "ULTRA" # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
+            depth_mode: "PERFORMANCE" # Matches the ZED SDK setting: 'NONE', 'PERFORMANCE', 'QUALITY', 'ULTRA', 'NEURAL', 'NEURAL_PLUS' - Note: if 'NONE' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
             depth_stabilization: 1 # Forces positional tracking to start if major than 0 - Range: [0,100]
             openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
-            point_cloud_freq: 10.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
+            point_cloud_freq: 30.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
             depth_confidence: 100 # [DYNAMIC]
             depth_texture_conf: 100 # [DYNAMIC]
             remove_saturated_areas: true # [DYNAMIC]
\ No newline at end of file