diff --git a/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
index b3434fd215a3326265c4c459bfea58477b15ed83..1a9f4503c6695b14bc89eb67c2c10f50eb680bea 100644
--- a/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
+++ b/config/adc_common/adc_global_ekf_odom_imu_amcl.yaml
@@ -9,7 +9,7 @@ use_control: true
 control_config: [true, true, false, false, false, true]
 
 
-publish_tf: true
+publish_tf: false
 map_frame: map
 odom_frame: adc_car/odom
 base_link_frame: adc_car/base_footprint
diff --git a/launch/adc_global_localization.launch b/launch/adc_global_localization.launch
index c284d32896527c305f36657101d70f1afe21d194..8304aa07a3d74ab6e8a93c50ffba6c48e003c149 100644
--- a/launch/adc_global_localization.launch
+++ b/launch/adc_global_localization.launch
@@ -76,7 +76,8 @@
       <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
       <arg name="config_file"                value="$(arg landmarks_config_dir)/$(arg landmarks_config_file)"/>
       <arg name="landmarks_map_file"         value="$(arg landmarks_data_dir)/$(arg landmarks_file)"/>
-      <arg name="estimated_pose_topic_name"  value="/$(arg car_name)/initialpose"/>
+      <arg name="estimated_pose_topic_name"  value="/$(arg car_name)/estimated_pose"/>
+      <arg name="initialpose_topic_name"  value="/$(arg car_name)/initialpose"/>
       <arg name="features_topic_name"        value="/$(arg car_name)/iri_adc_tag_localization_filter/features"/>
     </include>