rtabmap_ros/launch/tests/test_odometry.launch

<launch>

  <!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
        -Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
        -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      
        -Local map size: number of unique features to keep track 
    -->
   <arg name="type" default="6" />
   <arg name="nn" default="3" />
   <arg name="local_map" default="2000" />
  
  <!-- TF FRAMES -->
  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
  	args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
   
   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
   
  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
    <remap from="rgb/image_in"       to="camera/rgb/image_rect_color"/>
    <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
    <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
    <remap from="odom_in"             to="odom"/>
    
    <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"/>
    
    <param name="queue_size" type="int" value="30"/>
  </node>
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/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="queue_size" type="int" value="10"/>
    <param name="voxel_size" type="double" value="0.01"/>
  </node>
  
  <!-- Odometry -->
  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
  	<remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
  	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>
  	<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
	<remap from="odom" to="odom"/>
    
  	<param name="frame_id" type="string" value="base_link"/>
  	
  	<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
  	<param name="Odom/Type" type="string" value="$(arg type)"/>            
  	<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
  	<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
  </node>
  
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/test_odometry.rviz"/>
</launch>