diff --git a/config/avia.yaml b/config/avia.yaml
index 824b0a5..7aa44bd 100644
--- a/config/avia.yaml
+++ b/config/avia.yaml
@@ -21,6 +21,6 @@ mapping:
                    0, 0, 1]
 
 publish:     
-    scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
-    scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame
\ No newline at end of file
+    scan_publish_en:  1       # 'false' will close all the point cloud output
+    dense_publish_en: 1       # false will low down the points number in a global-frame point clouds scan.
+    scan_bodyframe_pub_en: 1  # output the point cloud scans in IMU-body-frame
\ No newline at end of file
diff --git a/config/horizon.yaml b/config/horizon.yaml
index 58adc5a..b56cfe6 100644
--- a/config/horizon.yaml
+++ b/config/horizon.yaml
@@ -21,6 +21,6 @@ mapping:
                    0, 0, 1]
 
 publish:     
-    scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
-    scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame
\ No newline at end of file
+    scan_publish_en:  1       # 'false' will close all the point cloud output
+    dense_publish_en: 1       # false will low down the points number in a global-frame point clouds scan.
+    scan_bodyframe_pub_en: 1  # output the point cloud scans in IMU-body-frame
\ No newline at end of file
diff --git a/config/ouster64.yaml b/config/ouster64.yaml
index c0bb8be..e8e296a 100644
--- a/config/ouster64.yaml
+++ b/config/ouster64.yaml
@@ -21,6 +21,6 @@ mapping:
                   0, 0, 1]
 
 publish:     
-    scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
-    scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame
\ No newline at end of file
+    scan_publish_en:  1       # 'false' will close all the point cloud output
+    dense_publish_en: 1       # false will low down the points number in a global-frame point clouds scan.
+    scan_bodyframe_pub_en: 1  # output the point cloud scans in IMU-body-frame
\ No newline at end of file
diff --git a/config/velodyne.yaml b/config/velodyne.yaml
index a97653f..0396e1c 100644
--- a/config/velodyne.yaml
+++ b/config/velodyne.yaml
@@ -21,6 +21,6 @@ mapping:
                    0, 0, 1]
 
 publish:     
-    scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
-    scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame
\ No newline at end of file
+    scan_publish_en:  1       # 'false' will close all the point cloud output
+    dense_publish_en: 1       # false will low down the points number in a global-frame point clouds scan.
+    scan_bodyframe_pub_en: 1  # output the point cloud scans in IMU-body-frame
\ No newline at end of file
diff --git a/launch/mapping_avia.launch b/launch/mapping_avia.launch
index 082f42b..afcb0ce 100644
--- a/launch/mapping_avia.launch
+++ b/launch/mapping_avia.launch
@@ -6,10 +6,8 @@
 	<rosparam command="load" file="$(find fast_lio)/config/avia.yaml" />
 
 	<param name="feature_extract_enable" type="bool" value="0"/>
-	<param name="point_filter_num" type="int" value="3"/>
+	<param name="point_filter_num" type="int" value="1"/>
 	<param name="max_iteration" type="int" value="3" />
-	<param name="scan_publish_enable" type="bool" value="1" />
-	<param name="dense_publish_enable" type="bool" value="1" />
 	<param name="filter_size_surf" type="double" value="0.5" />
 	<param name="filter_size_map" type="double" value="0.5" />
 	<param name="cube_side_length" type="double" value="1000" />
diff --git a/launch/mapping_horizon.launch b/launch/mapping_horizon.launch
index 1669564..0e0a8c2 100644
--- a/launch/mapping_horizon.launch
+++ b/launch/mapping_horizon.launch
@@ -7,8 +7,6 @@
 
 	<param name="feature_extract_enable" type="bool" value="0"/>
 	<param name="point_filter_num" type="int" value="3"/>
-	<param name="max_iteration" type="int" value="3" />
-	<param name="scan_publish_enable" type="bool" value="1" />
 	<param name="dense_publish_enable" type="bool" value="1" />
 	<param name="filter_size_surf" type="double" value="0.5" />
 	<param name="filter_size_map" type="double" value="0.5" />
diff --git a/launch/mapping_ouster64.launch b/launch/mapping_ouster64.launch
index 758bd0d..0e7340b 100644
--- a/launch/mapping_ouster64.launch
+++ b/launch/mapping_ouster64.launch
@@ -8,8 +8,6 @@
     <param name="feature_extract_enable" type="bool" value="0"/>
     <param name="point_filter_num" type="int" value="4"/>
     <param name="max_iteration" type="int" value="3" />
-    <param name="scan_publish_enable" type="bool" value="1" />
-	<param name="dense_publish_enable" type="bool" value="1" />
     <param name="filter_size_surf" type="double" value="0.5" />
     <param name="filter_size_map" type="double" value="0.5" />
     <param name="cube_side_length" type="double" value="1000" />
diff --git a/launch/mapping_velodyne.launch b/launch/mapping_velodyne.launch
index f422436..6567946 100644
--- a/launch/mapping_velodyne.launch
+++ b/launch/mapping_velodyne.launch
@@ -8,8 +8,6 @@
     <param name="feature_extract_enable" type="bool" value="0"/>
     <param name="point_filter_num" type="int" value="4"/>
     <param name="max_iteration" type="int" value="3" />
-    <param name="scan_publish_enable" type="bool" value="1" />
-	  <param name="dense_publish_enable" type="bool" value="1" />
     <param name="filter_size_surf" type="double" value="0.5" />
     <param name="filter_size_map" type="double" value="0.5" />
     <param name="cube_side_length" type="double" value="1000" />
diff --git a/src/laserMapping.cpp b/src/laserMapping.cpp
index 6bb28ee..1ab6b0d 100644
--- a/src/laserMapping.cpp
+++ b/src/laserMapping.cpp
@@ -711,7 +711,7 @@ int main(int argc, char** argv)
     ros::NodeHandle nh;
 
     nh.param<bool>("publish/scan_publish_en",scan_pub_en,1);
-    nh.param<bool>("publish/dense_publish_en",dense_pub_en,0);
+    nh.param<bool>("publish/dense_publish_en",dense_pub_en,1);
     nh.param<bool>("publish/scan_bodyframe_pub_en",scan_body_pub_en,1);
     nh.param<int>("max_iteration",NUM_MAX_ITERATIONS,4);
     nh.param<string>("map_file_path",map_file_path,"");