diff --git a/svo_ros/launch/live.launch b/svo_ros/launch/live.launch
index 8cdf322..7cd0ad8 100644
--- a/svo_ros/launch/live.launch
+++ b/svo_ros/launch/live.launch
@@ -2,24 +2,15 @@
   
     <node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
     
+        <!-- Camera topic to subscribe to -->
         <param name="cam_topic" value="/camera/image_raw" type="str" />
+        
+        <!-- Camera calibration file -->
         <rosparam file="$(find svo_ros)/param/camera_atan.yaml" />
+        
+        <!-- Default parameter settings: choose between vo_fast and vo_accurate -->
         <rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
 
-        <param name="map_scale" value="0.5" />
-        <param name="init_rx" value="3.14" />
-        <param name="publish_img_pyr_level" value="0" />
-        <param name="publish_every_nth_img" value="1" />
-        <param name="accept_console_user_input" value="True" />
+    </node>
         
-        <param name="publish_dense_input" value="True" />
-        <param name="publish_every_nth_dense_input" value="5" />
-    </node>
-    
-    <!--
-    <node pkg="image_view" type="image_view" name="image_svo">
-        <remap from="image" to="/svo/image" />
-    </node>
-    -->
-    
 </launch>