diff --git a/config/mapper_params_lifelong.yaml b/config/mapper_params_lifelong.yaml
index 83049a966..29986882f 100644
--- a/config/mapper_params_lifelong.yaml
+++ b/config/mapper_params_lifelong.yaml
@@ -1,11 +1,3 @@
-
-# link_match_minimum_response_fine: 0.4 
-# link_scan_maximum_distance: 20.0
-# loop_search_maximum_distance: 50.0
-# distance_variance_penalty: 1.8             
-# angle_variance_penalty: 0.20    
-# minimum_angle_penalty: 1.6 #0.9
-
 # Plugin params
 solver_plugin: solver_plugins::CeresSolver
 ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
diff --git a/config/mapper_params_localization.yaml b/config/mapper_params_localization.yaml
index 4a302d3ff..d92940043 100644
--- a/config/mapper_params_localization.yaml
+++ b/config/mapper_params_localization.yaml
@@ -1,11 +1,3 @@
-
-# link_match_minimum_response_fine: 0.4 
-# link_scan_maximum_distance: 20.0
-# loop_search_maximum_distance: 50.0
-# distance_variance_penalty: 1.8             
-# angle_variance_penalty: 0.20    
-# minimum_angle_penalty: 1.6 #0.9
-
 # Plugin params
 solver_plugin: solver_plugins::CeresSolver
 ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
@@ -41,13 +33,12 @@ use_scan_matching: true
 use_scan_barycenter: true
 minimum_travel_distance: 0.5
 minimum_travel_heading: 0.5
-scan_buffer_size: 10
+scan_buffer_size: 3
 scan_buffer_maximum_scan_distance: 10
 link_match_minimum_response_fine: 0.1  
 link_scan_maximum_distance: 1.5
-loop_search_maximum_distance: 3.0
 do_loop_closing: true 
-loop_match_minimum_chain_size: 10           
+loop_match_minimum_chain_size: 3
 loop_match_maximum_variance_coarse: 3.0  
 loop_match_minimum_response_coarse: 0.35    
 loop_match_minimum_response_fine: 0.45
@@ -61,6 +52,7 @@ correlation_search_space_smear_deviation: 0.1
 loop_search_space_dimension: 8.0
 loop_search_space_resolution: 0.05
 loop_search_space_smear_deviation: 0.03
+loop_search_maximum_distance: 5.0
 
 # Scan Matcher Parameters
 distance_variance_penalty: 0.5      
diff --git a/config/mapper_params_offline.yaml b/config/mapper_params_offline.yaml
index e7bfe011c..30a92ed51 100644
--- a/config/mapper_params_offline.yaml
+++ b/config/mapper_params_offline.yaml
@@ -1,11 +1,3 @@
-
-# link_match_minimum_response_fine: 0.4 
-# link_scan_maximum_distance: 20.0
-# loop_search_maximum_distance: 50.0
-# distance_variance_penalty: 1.8             
-# angle_variance_penalty: 0.20    
-# minimum_angle_penalty: 1.6 #0.9
-
 # Plugin params
 solver_plugin: solver_plugins::CeresSolver
 ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml
index ab1fd72c7..f977870c9 100644
--- a/config/mapper_params_online_async.yaml
+++ b/config/mapper_params_online_async.yaml
@@ -1,11 +1,3 @@
-
-# link_match_minimum_response_fine: 0.4 
-# link_scan_maximum_distance: 20.0
-# loop_search_maximum_distance: 50.0
-# distance_variance_penalty: 1.8             
-# angle_variance_penalty: 0.20    
-# minimum_angle_penalty: 1.6 #0.9
-
 # Plugin params
 solver_plugin: solver_plugins::CeresSolver
 ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
diff --git a/config/mapper_params_online_sync.yaml b/config/mapper_params_online_sync.yaml
index d7588962a..ae457852a 100644
--- a/config/mapper_params_online_sync.yaml
+++ b/config/mapper_params_online_sync.yaml
@@ -1,11 +1,3 @@
-
-# link_match_minimum_response_fine: 0.4 
-# link_scan_maximum_distance: 20.0
-# loop_search_maximum_distance: 50.0
-# distance_variance_penalty: 1.8             
-# angle_variance_penalty: 0.20    
-# minimum_angle_penalty: 1.6 #0.9
-
 # Plugin params
 solver_plugin: solver_plugins::CeresSolver
 ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
diff --git a/src/slam_toolbox_common.cpp b/src/slam_toolbox_common.cpp
index 6390e4ef3..9330ee140 100644
--- a/src/slam_toolbox_common.cpp
+++ b/src/slam_toolbox_common.cpp
@@ -638,6 +638,7 @@ void SlamToolbox::loadSerializedPoseGraph(
 
   // move the memory to our working dataset
   smapper_->setMapper(mapper.release());
+  smapper_->configure(nh_);
   dataset_.reset(dataset.release());
 
   if (!smapper_->getMapper())
@@ -668,7 +669,7 @@ void SlamToolbox::loadSerializedPoseGraph(
       ROS_INFO("Waiting for incoming scan to get metadata...");
       boost::shared_ptr<sensor_msgs::LaserScan const> scan =
         ros::topic::waitForMessage<sensor_msgs::LaserScan>(
-        std::string("/scan"), ros::Duration(1.0));
+        scan_topic_, ros::Duration(1.0));
       if (scan)
       {
         ROS_INFO("Got scan!");