diff --git a/jsk_robot_common/jsk_robot_startup/launch/biped_localization.launch b/jsk_robot_common/jsk_robot_startup/launch/biped_localization.launch
index e7a90f4616..c6f6941fc1 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/biped_localization.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/biped_localization.launch
@@ -8,6 +8,8 @@
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@@ -39,7 +41,7 @@
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@@ -57,6 +59,21 @@
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diff --git a/jsk_robot_common/jsk_robot_startup/launch/multisense_local.launch b/jsk_robot_common/jsk_robot_startup/launch/multisense_local.launch
index 514955abaf..863f819318 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/multisense_local.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/multisense_local.launch
@@ -133,6 +133,8 @@
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diff --git a/jsk_robot_common/jsk_robot_startup/launch/particle_odometry.launch b/jsk_robot_common/jsk_robot_startup/launch/particle_odometry.launch
index 9e7c868ae9..39e9483cb4 100644
--- a/jsk_robot_common/jsk_robot_startup/launch/particle_odometry.launch
+++ b/jsk_robot_common/jsk_robot_startup/launch/particle_odometry.launch
@@ -2,6 +2,7 @@
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@@ -114,7 +115,7 @@
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rate: 10
diff --git a/jsk_robot_common/jsk_robot_startup/launch/rtabmap.launch b/jsk_robot_common/jsk_robot_startup/launch/rtabmap.launch
new file mode 100644
index 0000000000..31d89dec47
--- /dev/null
+++ b/jsk_robot_common/jsk_robot_startup/launch/rtabmap.launch
@@ -0,0 +1,105 @@
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