diff --git a/mavros/launch/apm.launch b/mavros/launch/apm.launch
index 5575def85..432d4a393 100644
--- a/mavros/launch/apm.launch
+++ b/mavros/launch/apm.launch
@@ -8,7 +8,7 @@
 	<arg name="tgt_component" default="1" />
 
 	<include file="$(find mavros)/launch/node.launch">
-		<arg name="blacklist_yaml" value="$(find mavros)/launch/apm_blacklist.yaml" />
+		<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
 		<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
 
 		<arg name="fcu_url" value="$(arg fcu_url)" />
diff --git a/mavros/launch/apm_blacklist.yaml b/mavros/launch/apm_pluginlists.yaml
similarity index 84%
rename from mavros/launch/apm_blacklist.yaml
rename to mavros/launch/apm_pluginlists.yaml
index 5940dc5b2..b9bb1e68a 100644
--- a/mavros/launch/apm_blacklist.yaml
+++ b/mavros/launch/apm_pluginlists.yaml
@@ -11,3 +11,6 @@ plugin_blacklist:
 - px4flow
 - 'vision_*'
 - visualization
+
+plugin_whitelist: []
+#- 'sys_*'
diff --git a/mavros/launch/node.launch b/mavros/launch/node.launch
index 80d2e1e92..731335564 100644
--- a/mavros/launch/node.launch
+++ b/mavros/launch/node.launch
@@ -6,7 +6,7 @@
 	<arg name="gcs_url" />
 	<arg name="tgt_system" />
 	<arg name="tgt_component" />
-	<arg name="blacklist_yaml" />
+	<arg name="pluginlists_yaml" />
 	<arg name="config_yaml" />
 
 	<node pkg="mavros" type="mavros_node" name="mavros" required="true" clear_params="true" output="screen">
@@ -16,7 +16,7 @@
 		<param name="target_component_id" value="$(arg tgt_component)" />
 
 		<!-- load blacklist, config -->
-		<rosparam command="load" file="$(arg blacklist_yaml)" />
+		<rosparam command="load" file="$(arg pluginlists_yaml)" />
 		<rosparam command="load" file="$(arg config_yaml)" />
 	</node>
 </launch>
diff --git a/mavros/launch/px4.launch b/mavros/launch/px4.launch
index aacae00aa..a0094df01 100644
--- a/mavros/launch/px4.launch
+++ b/mavros/launch/px4.launch
@@ -8,7 +8,7 @@
 	<arg name="tgt_component" default="50" />
 
 	<include file="$(find mavros)/launch/node.launch">
-		<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" />
+		<arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
 		<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
 
 		<arg name="fcu_url" value="$(arg fcu_url)" />
diff --git a/mavros/launch/px4_blacklist.yaml b/mavros/launch/px4_blacklist.yaml
deleted file mode 100644
index 19be5fee8..000000000
--- a/mavros/launch/px4_blacklist.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-plugin_blacklist:
-- 'image_pub'
diff --git a/mavros/launch/px4_pluginlists.yaml b/mavros/launch/px4_pluginlists.yaml
new file mode 100644
index 000000000..cd98c5526
--- /dev/null
+++ b/mavros/launch/px4_pluginlists.yaml
@@ -0,0 +1,5 @@
+plugin_blacklist:
+- 'image_pub'
+
+plugin_whitelist: []
+#- 'sys_*'