diff --git a/launch/nav_nomap.launch b/launch/nav_nomap.launch
index 617e9fc137ba8b05ead3f141f06cbd5d4c95e19f..3c1d4bd69e0e2925e2326e4d459e2b843d9a743c 100644
--- a/launch/nav_nomap.launch
+++ b/launch/nav_nomap.launch
@@ -2,14 +2,13 @@
 <!-- -->
 <launch>
 
-  <arg name="rviz"                    default="true"/>
-  <arg name="rviz_file"               default="$(find model_car_rosnav)/rviz/model_car_no_map.rviz"/>
   <arg name="move_base_params"        default="move_base_params.yaml"/>
   <arg name="costmap_common_params"   default="common_params.yaml"/>
   <arg name="costmap_local_params"    default="local_params.yaml"/>
   <arg name="costmap_global_params"   default="global_params.yaml"/>
   <arg name="local_planner"           default="ackermann"/>
   <arg name="global_planner"          default="sbpl"/>
+  <arg name="odom_topic"              default="/model_car/odom"/>
   <arg name="output"                  default="screen" />
   <arg name="launch_prefix"           default="" />
 
@@ -25,7 +24,7 @@
     <arg name="base_frame_id"           value="model_car/base_footprint"/>
     <arg name="map_topic"               value="/model_car/map"/>
     <arg name="map_service"             value="/model_car/static_map"/>
-    <arg name="odom_topic"              value="/model_car/odom"/>
+    <arg name="odom_topic"              value="$(arg odom_topic)"/>
     <arg name="cmd_vel_topic"           value="/model_car/cmd_vel"/>
     <arg name="scan_topic"              value="/model_car/sensors/scan"/>
     <arg name="use_map"                 value="false"/>
@@ -42,11 +41,4 @@
 
   <param name="/model_car/move_base/SBPLLatticePlanner/primitive_filename" value="$(find model_car_rosnav)/model_car.mprim" />
 
-  <node name="rviz"
-        pkg="rviz"
-        type="rviz"
-        if="$(arg rviz)"
-        args="-d $(arg rviz_file)">
-  </node>
-
 </launch>