diff --git a/launch/robot_scan_filter.launch b/launch/robot_scan_filter.launch
index b726291..a0553a7 100644
--- a/launch/robot_scan_filter.launch
+++ b/launch/robot_scan_filter.launch
@@ -1,8 +1,7 @@
 <launch>
-    <!-- Include the configuration file -->
-    <param name="box_filter_config" command="$(find cps_rmp220_support)/config/box_filter.yaml" />
-
-    <!-- Launch the laser_filters node -->
-    <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="scan_to_scan_filter_chain" output="screen">
-    </node>
-</launch>
+  <node pkg="laser_filters" type="scan_to_scan_filter_chain"
+      name="laser_filter">
+    <rosparam command="load" file="$(find cps_rmp220_support)/config/box_filter.yaml" />
+    <!-- <remap from="scan" to="base_scan" /> -->
+  </node>
+</launch>
\ No newline at end of file