diff --git a/launch/mapping_horizon.launch b/launch/mapping_horizon.launch
index c240388..9c364a4 100644
--- a/launch/mapping_horizon.launch
+++ b/launch/mapping_horizon.launch
@@ -1,18 +1,28 @@
 <launch>
-
   <arg name="rviz" default="true" />
+  <arg name="cloud" default="/livox/lidar"/>
 
   <node pkg="livox_mapping" type="loam_scanRegistration_horizon" name="scanRegistration_horizon" output="screen">
+    <remap from="~input" to="$(arg cloud)"/>
+    <remap from="~cloud" to="/livox_cloud"/>
+    <remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
+    <remap from="~cloud_flat" to="/laser_cloud_flat"/>
   </node>
 
   <node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
-  <param name="map_file_path" type="string" value=" " />
-  <param name="filter_parameter_corner" type="double" value="0.2" />
-  <param name="filter_parameter_surf" type="double" value="0.4" />
+    <remap from="~cloud" to="/livox_cloud"/>
+    <remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
+    <remap from="~cloud_flat" to="/laser_cloud_flat"/>
+    <remap from="~cloud_surround" to="/laser_surround"/>
+    <remap from="~cloud_surround_corner" to="/laser_surround_corner"/>
+    <remap from="~odometry" to="/aft_mapped_to_init"/>
+    <param name="map_file_path" type="string" value=" " />
+    <param name="filter_parameter_corner" type="double" value="0.2" />
+    <param name="filter_parameter_surf" type="double" value="0.4" />
   </node>
 
   <node pkg="livox_mapping" type="livox_repub" name="livox_repub" output="screen" >
-  <remap from="/livox/lidar" to="/livox/lidar" />
+    <remap from="$(arg cloud)" to="$(arg cloud)" />
   </node>
 
   <group if="$(arg rviz)">
diff --git a/launch/mapping_mid.launch b/launch/mapping_mid.launch
index 079099d..49b123b 100644
--- a/launch/mapping_mid.launch
+++ b/launch/mapping_mid.launch
@@ -1,14 +1,24 @@
 <launch>
-
   <arg name="rviz" default="true" />
+  <arg name="cloud" default="/livox/lidar"/>
 
   <node pkg="livox_mapping" type="loam_scanRegistration" name="scanRegistration" output="screen">
+    <remap from="~input" to="$(arg cloud)"/>
+    <remap from="~cloud" to="/livox_cloud"/>
+    <remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
+    <remap from="~cloud_flat" to="/laser_cloud_flat"/>
   </node>
 
   <node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
-  <param name="map_file_path" type="string" value=" " />
-  <param name="filter_parameter_corner" type="double" value="0.1" />
-  <param name="filter_parameter_surf" type="double" value="0.2" />
+    <remap from="~cloud" to="/livox_cloud"/>
+    <remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
+    <remap from="~cloud_flat" to="/laser_cloud_flat"/>
+    <remap from="~cloud_surround" to="/laser_surround"/>
+    <remap from="~cloud_surround_corner" to="/laser_surround_corner"/>
+    <remap from="~odometry" to="/aft_mapped_to_init"/>
+    <param name="map_file_path" type="string" value=" " />
+    <param name="filter_parameter_corner" type="double" value="0.1" />
+    <param name="filter_parameter_surf" type="double" value="0.2" />
   </node>
 
   <group if="$(arg rviz)">
diff --git a/launch/mapping_outdoor.launch b/launch/mapping_outdoor.launch
index 3842181..f1442bb 100644
--- a/launch/mapping_outdoor.launch
+++ b/launch/mapping_outdoor.launch
@@ -1,14 +1,25 @@
 <launch>
 
   <arg name="rviz" default="true" />
+  <arg name="cloud" default="/livox/lidar"/>
 
   <node pkg="livox_mapping" type="loam_scanRegistration" name="scanRegistration" output="screen">
+    <remap from="~input" to="$(arg cloud)"/>
+    <remap from="~cloud" to="/livox_cloud"/>
+    <remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
+    <remap from="~cloud_flat" to="/laser_cloud_flat"/>
   </node>
 
   <node pkg="livox_mapping" type="loam_laserMapping" name="laserMapping" output="screen">
-  <param name="map_file_path" type="string" value=" " />
-  <param name="filter_parameter_corner" type="double" value="0.2" />
-  <param name="filter_parameter_surf" type="double" value="0.4" />
+    <remap from="~cloud" to="/livox_cloud"/>
+    <remap from="~cloud_sharp" to="/laser_cloud_sharp"/>
+    <remap from="~cloud_flat" to="/laser_cloud_flat"/>
+    <remap from="~cloud_surround" to="/laser_surround"/>
+    <remap from="~cloud_surround_corner" to="/laser_surround_corner"/>
+    <remap from="~odometry" to="/aft_mapped_to_init"/>
+    <param name="map_file_path" type="string" value=" " />
+    <param name="filter_parameter_corner" type="double" value="0.2" />
+    <param name="filter_parameter_surf" type="double" value="0.4" />
   </node>
 
   <group if="$(arg rviz)">
diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp
index 308caa5..f4d136a 100644
--- a/src/laserMapping.cpp
+++ b/src/laserMapping.cpp
@@ -381,26 +381,26 @@ void laserCloudFullResHandler(const sensor_msgs::PointCloud2ConstPtr& laserCloud
 int main(int argc, char** argv)
 {
     ros::init(argc, argv, "laserMapping");
-    ros::NodeHandle nh;
+    ros::NodeHandle nh("~");
 
     ros::Subscriber subLaserCloudCornerLast = nh.subscribe<sensor_msgs::PointCloud2>
-            ("/laser_cloud_sharp", 100, laserCloudCornerLastHandler);
+            ("cloud_sharp", 100, laserCloudCornerLastHandler);
 
     ros::Subscriber subLaserCloudSurfLast = nh.subscribe<sensor_msgs::PointCloud2>
-            ("/laser_cloud_flat", 100, laserCloudSurfLastHandler);
+            ("cloud_flat", 100, laserCloudSurfLastHandler);
 
     ros::Subscriber subLaserCloudFullRes = nh.subscribe<sensor_msgs::PointCloud2>
-            ("/livox_cloud", 100, laserCloudFullResHandler);
+            ("cloud", 100, laserCloudFullResHandler);
 
     ros::Publisher pubLaserCloudSurround = nh.advertise<sensor_msgs::PointCloud2>
-            ("/laser_cloud_surround", 100);
+            ("cloud_surround", 100);
     ros::Publisher pubLaserCloudSurround_corner = nh.advertise<sensor_msgs::PointCloud2>
-            ("/laser_cloud_surround_corner", 100);
+            ("cloud_surround_corner", 100);
 
     ros::Publisher pubLaserCloudFullRes = nh.advertise<sensor_msgs::PointCloud2>
             ("/velodyne_cloud_registered", 100);
 
-    ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry> ("/aft_mapped_to_init", 1);
+    ros::Publisher pubOdomAftMapped = nh.advertise<nav_msgs::Odometry> ("odometry", 1);
     nav_msgs::Odometry odomAftMapped;
     odomAftMapped.header.frame_id = "/camera_init";
     odomAftMapped.child_frame_id = "/aft_mapped";
diff --git a/src/scanRegistration.cpp b/src/scanRegistration.cpp
index a0c9f5d..3ea276a 100644
--- a/src/scanRegistration.cpp
+++ b/src/scanRegistration.cpp
@@ -526,7 +526,7 @@ void laserCloudHandler(const sensor_msgs::PointCloud2ConstPtr& laserCloudMsg)
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "scanRegistration");
-  ros::NodeHandle nh;
+  ros::NodeHandle nh("~");
 
   // ros::Subscriber subLaserCloud_for_hk = nh.subscribe<sensor_msgs::PointCloud2>
   //                                 ("/livox/lidar", 2, laserCloudHandler_temp);
@@ -534,16 +534,16 @@ int main(int argc, char** argv)
   //                                ("/livox/lidar_temp", 2);
 
   ros::Subscriber subLaserCloud = nh.subscribe<sensor_msgs::PointCloud2>
-                                  ("/livox/lidar", 100, laserCloudHandler);
+                                  ("input", 100, laserCloudHandler);
   pubLaserCloud = nh.advertise<sensor_msgs::PointCloud2>
-                                 ("/livox_cloud", 20);
+                                 ("cloud", 20);
 
   pubCornerPointsSharp = nh.advertise<sensor_msgs::PointCloud2>
-                                        ("/laser_cloud_sharp", 20);
+                                        ("cloud_sharp", 20);
 
 
   pubSurfPointsFlat = nh.advertise<sensor_msgs::PointCloud2>
-                                       ("/laser_cloud_flat", 20);
+                                       ("cloud_flat", 20);
 
 
   ros::spin();