diff --git a/crosbot_map_geotiff/launch/geotiff.launch b/crosbot_map_geotiff/launch/geotiff.launch
index d4c13d3721d228cd2996c41f57636bbecf616fa2..709316ad3e7df109d2df113f0c92cb6ee664fa37 100644
--- a/crosbot_map_geotiff/launch/geotiff.launch
+++ b/crosbot_map_geotiff/launch/geotiff.launch
@@ -4,9 +4,11 @@
     <node pkg="crosbot_map_geotiff" type="crosbot_map_geotiff" name="crosbot_map_geotiff" output="screen">
         <rosparam>
             markers_topic: /comp3431_marking/beacons
-            map_topic: /comp3431/map
-            mapImg_topic: /map/geotiff
-            path_topic: /comp3431/path
+            xmap_topic: /comp3431/map
+            map_topic: /crosbot_map/slammap
+            mapImg_topic: /crosbot_map/geotiff
+            xpath_topic: /comp3431/path
+            path_topic: /crosbot_map/slammap/history
             tiff_filename: /home/rescue/geotiff.tiff
         </rosparam>
     </node>