diff --git a/bag/generate_trajectory_csv.bash b/bag/generate_trajectory_csv.bash
index b90eef1192c71e480be9f39dc59df976e11e6a2a..327693d5d6a805c8d5e7e627c206ce17b1572647 100644
--- a/bag/generate_trajectory_csv.bash
+++ b/bag/generate_trajectory_csv.bash
@@ -1,7 +1,7 @@
 #!/bin/bash
-echo "Press CTRL+C to proceed."
-trap "pkill -f 'sleep 1h'" INT
-trap "set +x ; sleep 1h ; set -x" DEBUG
+#echo "Press CTRL+C to proceed."
+#trap "pkill -f 'sleep 1h'" INT
+#trap "set +x ; sleep 1h ; set -x" DEBUG
 
 if [[ -z "${BAG}" ]]
 then
@@ -13,6 +13,7 @@ fi
 #   Starting with E ==> experiment, we extract the poses
 for yamlfile in $(find ../yaml/trajectory_analysys -maxdepth 1 -type f -printf "%f\n")
 do
+  rm recordings/trajectory_recording$yamlname.bag
   yamlname=${yamlfile%.*}
   roslaunch wolf_demo_imu2d imu2d_analysys.launch bag:=$BAG\_filtered_notf test:=$yamlfile speed:=1 suffix:=$yamlname
   if [[ ${yamlname:0:1} == 'G' ]]
diff --git a/yaml/trajectory_analysys/G-1_0.yaml b/yaml/trajectory_analysys/G-1_0.yaml
index a0ddcb4c8c5a5c8769cb3de2cbd53d25658183f9..7c0cf8ef3dc705d1f3804fa1f28594b07c94c9b3 100644
--- a/yaml/trajectory_analysys/G-1_0.yaml
+++ b/yaml/trajectory_analysys/G-1_0.yaml
@@ -41,13 +41,14 @@ config:
       name: "processorodomicp"
       sensor_name: "scanner_front_left"
       plugin: "laser"
-      voting_active: true
-      min_features_for_keyframe: 10
-      min_dist: 999
-      min_angle: 999
-      min_time: 1
-      min_error: 999
-      max_points: 0
+      keyframe_vote:
+        voting_active: true
+        min_features_for_keyframe: 10
+        min_dist: 999
+        min_angle: 999
+        min_time: 1
+        min_error: 999
+        max_points: 0
       follow: "parameters/test_laser_processor.yaml"
         #-
         #  type: "ProcessorLoopClosureIcp"