rtabmap_ros/launch/demo/demo_multi-session_mapping.launch

<launch>

   <!-- MULTI-SESSION MAPPING VERSION -->
   
   <!-- Choose visualization -->
  <arg name="rviz" default="false" />
  <arg name="rtabmapviz" default="true" />

  <param name="use_sim_time" type="bool" value="True"/>

  <group ns="rtabmap">
  
  <!-- SLAM (robot side) -->
  <!-- args: "delete_db_on_start" and "udebug" -->
  <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
	<param name="frame_id" type="string" value="base_footprint"/>
	
	<param name="subscribe_depth" type="bool" value="true"/>
	<param name="subscribe_laserScan" type="bool" value="true"/>
	
	<remap from="odom" to="/base_controller/odom"/>
	<remap from="scan" to="/base_scan"/>

	<remap from="rgb/image" to="/data_throttled_image"/>
  	<remap from="depth/image" to="/data_throttled_image_depth"/>
  	<remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
  	
  	<param name="rgb/image_transport" type="string" value="compressed"/>
    <param name="depth/image_transport" type="string" value="compressedDepth"/>
	
	<param name="queue_size" type="int" value="10"/>
	
	<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
	<param name="RGBD/PoseScanMatching" type="string" value="false"/> 
	<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/> 
	<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> 
	<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/> 
	<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
	<param name="LccIcp/Type" type="string" value="2"/>
	<param name="LccIcp2/Iterations" type="string" value="100"/>
	<param name="LccIcp2/VoxelSize" type="string" value="0"/>
	<param name="LccBow/MinInliers" type="string" value="5"/>
	<param name="LccBow/MaxDepth" type="string" value="4.0"/>
	<param name="LccBow/InlierDistance" type="string" value="0.1"/>
	<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
	<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
	<param name="Rtabmap/TimeThr" type="string" value="700"/>
	<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
	<param name="Kp/TfIdfLikelihoodUsed" type="string" value="false"/>
	<param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
	<param name="Kp/DetectorStrategy" type="string" value="0"/>   <!-- use SURF -->
	<param name="Kp/NNStrategy" type="string" value="1"/>         <!-- kdTree -->
	<param name="Kp/WordsPerImage" type="string" value="400"/> 
  </node>
  
  <!-- Visualisation RTAB-Map -->
  <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
  	  <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_laserScan" type="bool" value="true"/>
      <param name="queue_size" type="int" value="10"/>
      <param name="frame_id" type="string" value="base_footprint"/>
    
      <remap from="rgb/image" to="/data_throttled_image"/>
      <remap from="depth/image" to="/data_throttled_image_depth"/>
      <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
      <remap from="scan" to="/base_scan"/>
      <remap from="odom" to="/base_controller/odom"/>
      
      <param name="rgb/image_transport" type="string" value="compressed"/>
      <param name="depth/image_transport" type="string" value="compressedDepth"/>
  </node>
  
  </group>
    
  <!-- Visualisation RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz"/>
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
    <remap from="rgb/image"       to="/data_throttled_image"/>
    <remap from="depth/image"     to="/data_throttled_image_depth"/>
    <remap from="rgb/camera_info" to="/data_throttled_camera_info"/>
    <remap from="cloud"           to="voxel_cloud" />
    
    <param name="rgb/image_transport" type="string" value="compressed"/>
    <param name="depth/image_transport" type="string" value="compressedDepth"/>
    
    <param name="queue_size" type="int" value="10"/>
    <param name="voxel_size" type="double" value="0.01"/>
  </node>

</launch>