diff --git a/launch/adc_sim_navigation.launch b/launch/adc_sim_navigation.launch
index 8b6d6e29671c3dc3ca2d3939e789f2ff07cac925..8a69d7c0262e2f8cb5ce4b02c7f92dd8d7d33cc0 100644
--- a/launch/adc_sim_navigation.launch
+++ b/launch/adc_sim_navigation.launch
@@ -50,6 +50,7 @@
   <include file="$(find iri_model_car_rosnav)/launch/include/localization.launch">
     <arg name="name"                    value="$(arg name)"/>
     <arg name="global_ekf_config_file"  value="$(find iri_adc_launch)/config/adc_car_global_ekf.yaml"/>
+    <arg name="set_pose_topic"          value="/$(arg name)/initialpose"/>
   </include>
 
   <param name="/$(arg name)/move_base/OpendriveGlobalPlanner/opendrive_file" value="$(arg opendrive_file_path)/$(arg opendrive_file_name).xodr" />
diff --git a/rviz/nav.rviz b/rviz/nav.rviz
index 2e80976c4f6cf7827cf352449ae61e7b01c10f24..0b8c1bfa3c61b3c21fd19225d72d10ea2164f6e0 100644
--- a/rviz/nav.rviz
+++ b/rviz/nav.rviz
@@ -774,7 +774,7 @@ Visualization Manager:
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
       Theta std deviation: 0.2617993950843811
-      Topic: /adc_car/global_ekf/set_pose
+      Topic: /adc_car/initialpose
       X std deviation: 0.5
       Y std deviation: 0.5
     - Class: rviz/SetGoal
@@ -786,7 +786,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 31.713680267333984
+      Distance: 27.908039093017578
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -827,4 +827,4 @@ Window Geometry:
     collapsed: false
   Width: 1373
   X: 67
-  Y: 27
+  Y: 0