diff --git a/config/mapper_params_online_async.yaml b/config/mapper_params_online_async.yaml
index ea9d93a59..288c677b1 100644
--- a/config/mapper_params_online_async.yaml
+++ b/config/mapper_params_online_async.yaml
@@ -18,6 +18,7 @@ ceres_loss_function: None
 odom_frame: odom
 map_frame: map
 base_frame: base_link
+laser_frame: base_laser_link
 debug_logging: false
 throttle_scans: 1
 publish_occupancy_map: true
@@ -66,3 +67,6 @@ coarse_angle_resolution: 0.0349
 minimum_angle_penalty: 0.9
 minimum_distance_penalty: 0.5
 use_response_expansion: true
+
+# Load Map Parameters
+inverted_laser: true
\ No newline at end of file
diff --git a/config/mapper_params_online_sync.yaml b/config/mapper_params_online_sync.yaml
index cd4de0a94..5858cae4e 100644
--- a/config/mapper_params_online_sync.yaml
+++ b/config/mapper_params_online_sync.yaml
@@ -18,6 +18,7 @@ ceres_loss_function: None
 odom_frame: odom
 map_frame: map
 base_frame: base_link
+laser_frame: base_laser_link
 debug_logging: false
 throttle_scans: 1
 publish_occupancy_map: true
@@ -66,3 +67,6 @@ coarse_angle_resolution: 0.0349
 minimum_angle_penalty: 0.9
 minimum_distance_penalty: 0.5
 use_response_expansion: true
+
+# Load Map Parameters
+inverted_laser: true
\ No newline at end of file
diff --git a/include/slam_toolbox/slam_toolbox.hpp b/include/slam_toolbox/slam_toolbox.hpp
index 2d896206a..b1fc180f6 100644
--- a/include/slam_toolbox/slam_toolbox.hpp
+++ b/include/slam_toolbox/slam_toolbox.hpp
@@ -58,6 +58,7 @@
 #include <queue>
 #include <cstdlib>
 #include <fstream>
+#include <sys/resource.h>
 
 #include <boost/archive/text_oarchive.hpp>
 #include <boost/archive/text_iarchive.hpp>
diff --git a/src/slam_toolbox.cpp b/src/slam_toolbox.cpp
index 2df374974..f7d7f57f2 100644
--- a/src/slam_toolbox.cpp
+++ b/src/slam_toolbox.cpp
@@ -20,6 +20,11 @@
 
 #include <slam_toolbox/slam_toolbox.hpp>
 #include "serialization.cpp"
+
+#define MAX_STACK_SIZE 20000000 // if a system has the stack soft limit set to a smaller value
+// than needed for serialization of a large map
+// parameter defines enlarged stack limit for process to use
+
 /*****************************************************************************/
 SlamToolbox::SlamToolbox() : 
                          transform_thread_(NULL),
@@ -467,6 +472,7 @@ void SlamToolbox::PublishGraph()
 /*****************************************************************************/
 {
   std::vector<Eigen::Vector2d> graph;
+  boost::mutex::scoped_lock lock(mapper_mutex_);
   solver_->getGraph(graph);
 
   if (graph.size() == 0)
@@ -1029,6 +1035,7 @@ bool SlamToolbox::SaveMapCallback(slam_toolbox::SaveMap::Request  &req,
 /*****************************************************************************/
 {
   std::vector<Eigen::Vector2d> graph;
+  boost::mutex::scoped_lock lock(mapper_mutex_);
   solver_->getGraph(graph);
   if (graph.size() == 0)
   {
@@ -1114,6 +1121,7 @@ void SlamToolbox::Run()
            scan_w_pose.scan->header.frame_id.c_str());
         break;
       }
+
       AddScan(laser, scan_w_pose.scan, scan_w_pose.pose);
       continue; // no need to sleep if working
     }
@@ -1139,6 +1147,7 @@ bool SlamToolbox::SerializePoseGraphCallback(slam_toolbox::SerializePoseGraph::R
 /*****************************************************************************/
 {
   const std::string filename = req.filename;
+  boost::mutex::scoped_lock lock(mapper_mutex_);
   serialization::Write(filename, mapper_, dataset_);
   return true;
 }
@@ -1211,6 +1220,12 @@ int main(int argc, char** argv)
 /*****************************************************************************/
 {
   ros::init(argc, argv, "slam_toolbox");
+  ros::NodeHandle nh;
+  const rlim_t max_stack_size = MAX_STACK_SIZE;
+  struct rlimit stack_limit;
+  getrlimit(RLIMIT_STACK, &stack_limit);
+  stack_limit.rlim_cur = max_stack_size;
+  setrlimit(RLIMIT_STACK, &stack_limit);
   SlamToolbox kt;
   ros::spin();
   return 0;