diff --git a/topological_navigation/setup.py b/topological_navigation/setup.py
index d034ba3a..a203bc8a 100644
--- a/topological_navigation/setup.py
+++ b/topological_navigation/setup.py
@@ -12,7 +12,8 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        ('share/' + package_name + '/config/', glob('config/*', recursive=True))
+        ('share/' + package_name + '/config/', glob('config/*', recursive=True)),
+        ('share/' + package_name + '/launch/', glob('launch/*', recursive=True))
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/topological_navigation/topological_navigation/topomap_marker2.py b/topological_navigation/topological_navigation/topomap_marker2.py
index 71ff76f2..c8e0e425 100644
--- a/topological_navigation/topological_navigation/topomap_marker2.py
+++ b/topological_navigation/topological_navigation/topomap_marker2.py
@@ -183,13 +183,13 @@ def get_zone_marker(self, node):
 
         for j in node['node']['verts']:
             vert = Point()
-            vert.z = 0.05
+            vert.z = node['node']['pose']['position']['z'] 
             vert.x = node['node']['pose']['position']['x'] + j['x']
             vert.y = node['node']['pose']['position']['y'] + j['y']
             marker.points.append(vert)
 
         vert = Point()
-        vert.z = 0.05
+        vert.z = node['node']['pose']['position']['z']
         vert.x = node['node']['pose']['position']['x'] + node['node']['verts'][0]['x']
         vert.y = node['node']['pose']['position']['y'] + node['node']['verts'][0]['y']
         marker.points.append(vert)