diff --git a/cartographer_ros/launch/visualize_pbstream.launch b/cartographer_ros/launch/visualize_pbstream.launch
index 764f5ff..cf5b7e0 100644
--- a/cartographer_ros/launch/visualize_pbstream.launch
+++ b/cartographer_ros/launch/visualize_pbstream.launch
@@ -17,13 +17,13 @@
 <launch>
   <node name="rviz" pkg="rviz" type="rviz" required="true"
       args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
-  <node name="cartographer_offline_node" pkg="cartographer_ros"
-      type="cartographer_offline_node" args="
+  <node name="cartographer_node" pkg="cartographer_ros"
+      type="cartographer_node" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
-          -configuration_basenames visualize_pbstream.lua
-          -keep_running=true
+          -configuration_basename visualize_pbstream.lua
           -load_state_filename $(arg pbstream_filename)
-          -load_frozen_state=false"
+          -load_frozen_state=false
+          -start_trajectory_with_default_topics=false"
       output="screen">
   </node>
 </launch>