rtabmap_ros/launch/azimut3/az3_mapping_robot_stereo.launch

<launch>

    <!-- to record odom+image left+depth:
         rosbag record /odom_sync /camera/data_throttled_image/compressed /camera/data_throttled_camera_info /camera/data_throttled_image_depth/compressedDepth    
    -->

    <!-- "Disable" odometry from azimut3 -->
    <group ns="base_controller">
      <param name="odom_frame_id" type="string" value="az3_odom"/>
      <param name="base_frame_id" type="string" value="az3_base_link"/>
    </group>
    <remap from="/base_controller/odom" to="/base_controller/az3_odom"/>

	<!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
	<include file="$(find az3_bringup)/az3_standalone.launch"/>
	<include file="$(find az3_bringup)/joystick.launch"/>
  
	<!-- Stereo camera -->
	<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
	    <param name="video_mode" value="format7_mode3" />
	    <param name="format7_color_coding" value="raw16" />
	    <param name="bayer_pattern" value="bggr" />
	    <param name="bayer_method" value="" />
	    <param name="stereo_method" value="Interlaced" />
	    <param name="camera_info_url_left" value="" />
	    <param name="camera_info_url_right" value="" />
	</node>
  
  	<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="camera_base_link"
	    args="$(arg optical_rotate) stereo_camera_base stereo_camera 100" />  
	<node pkg="tf" type="static_transform_publisher" name="base_to_camera_base_link"
	    args="0 0 0.90 0 0.40 0 base_link stereo_camera_base 100" />  
	    
	<!-- Run the ROS package stereo_image_proc for image rectification and disparity computation -->
	<group ns="/stereo_camera" >
		<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
		<node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap/disparity_to_depth"/>
	</group>
	
	<!-- Visual Odometry -->
	<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
		<remap from="stereo" to="/stereo_camera"/>
		<remap from="image" to="image_rect"/>
		<param name="base_link_frame_id" value="base_footprint"/>
		<param name="odom_frame_id" value="odom"/>
		<param name="ref_frame_change_method" value="1"/>
	</node>

  <!-- SLAM (robot side) -->
  <!-- args: "delete_db_on_start" and "udebug" -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
	  <param name="frame_id" type="string" value="base_footprint"/>
	
	  <param name="subscribe_depth" type="bool" value="true"/>

	  <remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
      <remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
      <remap from="depth/image" to="/stereo_camera/depth"/>
      	
	  <remap from="odom" to="/stereo_odometer/odometry"/>
	
	  <param name="queue_size" type="int" value="30"/>
	
      <!-- RTAB-Map's parameters -->
	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
      <param name="Rtabmap/DetectionRate" type="string" value="1"/>
      <param name="Rtabmap/DetectorStrategy" type="string" value="6"/>
      <param name="NN/NNStrategy" type="string" value="3"/>
	  <param name="GFTT/MaxCorners" type="string" value="200"/>
      
      <param name="LccBow/MinInliers" type="string" value="10"/>
      <param name="LccBow/InlierDistance" type="string" value="0.02"/>
      <param name="LccBow/MaxDepth" type="string" value="10"/>
      
      <param name="LccReextract/FeatureType" type="string" value="4"/>
	  <param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
	  <param name="LccReextract/NNDR" type="string" value="0.8"/>
	  <param name="LccReextract/NNType" type="string" value="3"/>   
    </node>
  </group>
  
  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="standalone rtabmap/data_odom_sync">
    <remap from="rgb/image_in"       to="/stereo_camera/left/image_rect_color"/>
    <remap from="depth/image_in"     to="/stereo_camera/depth"/>
    <remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
    <remap from="odom_in"             to="/stereo_odometer/odometry"/>
    
    <remap from="rgb/image_out"       to="/camera/data_throttled_image"/>
    <remap from="depth/image_out"     to="/camera/data_throttled_image_depth"/>
    <remap from="rgb/camera_info_out" to="/camera/data_throttled_camera_info"/>
    <remap from="odom_out"            to="odom_sync"/>
    
    <param name="queue_size" type="int" value="30"/>
  </node>
  
</launch>