rtabmap_ros/launch/rgbd_mapping_kinect2.launch

<launch>
   
   <!-- Kinect 2
        Install Kinect2 : Follow ALL directives at https://github.com/code-iai/iai_kinect2
                          Make sure it is calibrated!
        Run:
           $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
           $ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
   -->

   <!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />
   
   <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
   <arg name="frame_id" default="kinect2_base_link"/>
   
   <!-- Rotate the camera -->
   <arg name="pi/2" value="1.5707963267948966"/>
   <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
   <node pkg="tf" type="static_transform_publisher" name="kinect2_base_link"
        args="$(arg optical_rotate) kinect2_base_link kinect2_link 100" /> 
  
   <!-- Choose visualization -->
   <arg name="rviz" default="false" />
   <arg name="rtabmapviz" default="true" /> 
   
   <!-- Corresponding config files -->
   <arg name="rtabmapviz_cfg"          default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
   <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
  
   <!-- ODOMETRY MAIN ARGUMENTS: 
        -"strategy"        : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
        -"feature"         : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
        -"nn"              : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE 
                             Set to 1 for float descriptor like SIFT/SURF                  
                             Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK  
        -"max_depth"       : Maximum features depth (m)  
        -"min_inliers"     : Minimum visual correspondences to accept a transformation (m)  
        -"inlier_distance" : RANSAC maximum inliers distance (m)  
        -"local_map"       : Local map size: number of unique features to keep track 
        -"odom_info_data"  : Fill odometry info messages with inliers/outliers data.
    -->
   <arg name="strategy" default="0" />
   <arg name="feature" default="6" />
   <arg name="nn" default="3" />
   <arg name="max_depth" default="10.0" />
   <arg name="min_inliers" default="20" />
   <arg name="inlier_distance" default="0.02" />
   <arg name="local_map" default="1000" />
   <arg name="gftt_max_corners" default="1000" />
   <arg name="gftt_min_distance" default="7" />
        
  <group ns="rtabmap">
  
    <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
      <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
      <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
      <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>

      <param name="frame_id" type="string" value="$(arg frame_id)"/>
      <param name="approx_sync" type="bool" value="true"/>
	  
      <param name="Odom/Strategy" type="string" value="$(arg strategy)"/> 
      <param name="Odom/FeatureType" type="string" value="$(arg feature)"/>  
      <param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
      <param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>  
      <param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/> 
      <param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>       
      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
      <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
      <param name="Odom/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
      <param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
    </node>
  
    <!-- Visual SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="subscribe_depth" type="bool" value="true"/>
	  <param name="frame_id" type="string" value="$(arg frame_id)"/>
	
      <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
      <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
      <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>

      <param name="approx_sync" type="bool" value="true"/>

      <param name="LccBow/MinInliers" type="string" value="10"/>
      <param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
    </node>
  
    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_odom_info" type="bool" value="true"/>
      <param name="approx_sync" type="bool" value="true"/>
      <param name="frame_id" type="string" value="$(arg frame_id)"/>
    
      <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
      <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
      <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
    </node>
  
  </group>
  
  <!-- Visualization RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
    <remap from="rgb/image_in"       to="/kinect2/$(arg resolution)/image_color_rect"/>
    <remap from="depth/image_in"     to="/kinect2/$(arg resolution)/image_depth_rect"/>
    <remap from="rgb/camera_info_in" to="/kinect2/$(arg resolution)/camera_info"/>

    <remap from="odom_in"             to="rtabmap/odom"/>

    <param name="approx_sync" type="bool" value="true"/>
    
    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
    <remap from="odom_out"            to="odom_sync"/>
  </node>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
    <remap from="rgb/image"       to="data_odom_sync/image"/>
    <remap from="depth/image"     to="data_odom_sync/depth"/>
    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
    <remap from="cloud"           to="voxel_cloud" />

    <param name="voxel_size" type="double" value="0.01"/>
  </node>

</launch>