diff --git a/launch/node.launch b/launch/node.launch
index 0242e69f4f5cf930f4dc67701fdacfd8b71b3488..f8194caa1cf9eb5d917e23c1a0e20ca8fb46a83a 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -7,6 +7,8 @@
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
+  <arg name="obstacles_cloud_out" default="~obstacles_cloud_in"/>
+  <arg name="free_space_cloud_out" default="~free_space_cloud_in"/>
 
   <group ns="$(arg ns)">
 
@@ -16,6 +18,8 @@
           output="$(arg output)"
           launch-prefix="$(arg launch_prefix)">
       <remap from="~input" to="$(arg cloud_in)"/>
+      <remap from="~obstacles" to="$(arg obstacles_cloud_out)"/>
+      <remap from="~free_space" to="$(arg free_space_cloud_out)"/>
       <rosparam file="$(arg config_file)" command="load"/>
     </node>
 
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index b8c7815af99ee5ce0dc683536d4f4a84cb95940d..f4635f3b9178eba4da3eabd2f7be2751e673ae71 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -8,6 +8,8 @@
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
+  <arg name="obstacles_cloud_out" default="~obstacles_cloud_in"/>
+  <arg name="free_space_cloud_out" default="~free_space_cloud_in"/>
 
   <group ns="$(arg ns)">
 
@@ -17,6 +19,8 @@
           args="load iri_obstacle_detection_normals/ObstacleDetectionNormalsAlgNodelet $(arg camera_nodelet_manager)"
           output="$(arg output)">
       <remap from="~input" to="$(arg cloud_in)"/>
+      <remap from="~obstacles" to="$(arg obstacles_cloud_out)"/>
+      <remap from="~free_space" to="$(arg free_space_cloud_out)"/>
       <rosparam file="$(arg config_file)" command="load"/>
     </node>