diff --git a/launch/adc_global_localization.launch b/launch/adc_global_localization.launch
index 8304aa07a3d74ab6e8a93c50ffba6c48e003c149..cfb44179e6e95a67f8cb9b5a83d9281e3faeab43 100644
--- a/launch/adc_global_localization.launch
+++ b/launch/adc_global_localization.launch
@@ -77,8 +77,11 @@
       <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="/$(arg car_name)/estimated_pose"/>
-      <arg name="initialpose_topic_name"  value="/$(arg car_name)/initialpose"/>
+      <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"/>
+      <arg name="initial_pose_x"     value="$(arg car_x)"/>
+      <arg name="initial_pose_y"     value="$(arg car_y)"/>
+      <arg name="initial_pose_yaw"   value="$(arg car_yaw)"/>
     </include>
 
   </group>