diff --git a/launch/adc_sim.launch b/launch/adc_sim.launch
index c41541bcc8eb5a55779f2f1b65a5f9cc574c51dd..945c8b09d3c52bbb88b1a625980924740ef79b4d 100644
--- a/launch/adc_sim.launch
+++ b/launch/adc_sim.launch
@@ -23,9 +23,8 @@
     <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_car"/>
     <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
     <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
-    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_car_odometry_params.yaml"/>
+    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_car_odometry_params_no_tf.yaml"/>
     <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
-    <arg name="standalone"                 value="True"/>
   </include>
 
 </launch>