rtabmap_ros/launch/azimut3/az3_record.launch

<launch>
  <!-- rosbag record data_throttled_image/compressed data_throttled_image_depth/compressedDepth data_throttled_camera_info tf base_scan /base_controller/odom -->
  
  <include file="$(find az3_bringup)/az3_standalone_openni.launch"/>
  <include file="$(find az3_bringup)/joystick.launch"/>
  
  <!-- Throttling messages -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
      <param name="max_rate" type="double" value="10.0"/>
   
      <remap from="rgb/image_in"       to="rgb/image_color"/>
      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
    
      <remap from="rgb/image_out"       to="/data_throttled_image"/>
      <remap from="depth/image_out"     to="/data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="/data_throttled_camera_info"/>
    </node>   
  </group>

</launch>