diff --git a/slam_gmapping/launch/slam_gmapping.launch.py b/slam_gmapping/launch/slam_gmapping.launch.py
index 0f99610..4306cf0 100644
--- a/slam_gmapping/launch/slam_gmapping.launch.py
+++ b/slam_gmapping/launch/slam_gmapping.launch.py
@@ -1,12 +1,41 @@
 from launch import LaunchDescription
-from launch.substitutions import EnvironmentVariable
-import launch.actions
-import launch_ros.actions
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch_ros.actions import Node, PushRosNamespace
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
-    use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time', default='true')
-    return LaunchDescription([
-        launch_ros.actions.Node(
-            package='slam_gmapping', node_executable='slam_gmapping', output='screen', parameters=[{'use_sim_time':use_sim_time}]),
-    ])
+    namespace = LaunchConfiguration("namespace")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    declare_namespace_cmd = DeclareLaunchArgument(
+        "namespace", default_value="", description="Top-level namespace"
+    )
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        "use_sim_time",
+        default_value="true",
+        description="Use simulation (Gazebo) clock if true",
+    )
+
+    # Map fully qualified names to relative ones so the node's namespace can be prepended.
+    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+    # https://github.com/ros/geometry2/issues/32
+    # https://github.com/ros/robot_state_publisher/pull/30
+    remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
+
+    # Create the launch description and populate
+    ld = LaunchDescription(
+        [
+            declare_namespace_cmd,
+            declare_use_sim_time_cmd,
+            Node(
+                package="slam_gmapping",
+                namespace=namespace,
+                executable="slam_gmapping",
+                output="screen",
+                parameters=[{"use_sim_time": use_sim_time}],
+                remappings=remappings,
+            ),
+        ]
+    )
+    return ld
diff --git a/slam_gmapping/src/slam_gmapping.cpp b/slam_gmapping/src/slam_gmapping.cpp
index 8500f8e..a5d2eb5 100644
--- a/slam_gmapping/src/slam_gmapping.cpp
+++ b/slam_gmapping/src/slam_gmapping.cpp
@@ -99,8 +99,8 @@ void SlamGmapping::init() {
 
 void SlamGmapping::startLiveSlam() {
     entropy_publisher_ = this->create_publisher<std_msgs::msg::Float64>("entropy", rclcpp::SystemDefaultsQoS());
-    sst_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map", rclcpp::SystemDefaultsQoS());
-    sstm_ = this->create_publisher<nav_msgs::msg::MapMetaData>("map_metadata", rclcpp::SystemDefaultsQoS());
+    sst_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
+    sstm_ = this->create_publisher<nav_msgs::msg::MapMetaData>("map_metadata", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
     scan_filter_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::LaserScan>>
             (node_, "scan", rclcpp::SensorDataQoS().get_rmw_qos_profile());
 //    sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>(