rtabmap_ros/launch/data_recorder.launch

<launch>

  <!-- arguments -->
  <arg name="subscribe_odometry"   default="false"/>
  <arg name="subscribe_depth"      default="true"/>
  <arg name="subscribe_stereo"     default="false"/>
  <arg name="subscribe_laserScan"  default="false"/>
  <arg name="stereo_approx_sync"   default="false"/>
  
  <arg name="frame_id"      default="camera_link"/>
  <arg name="odom_frame_id" default=""/>        <!-- use topic when not set, otherwise use TF if set -->
  
  <arg name="output_path"   default="output.db"/>
  <arg name="record_in_RAM" default="true"/>
  <arg name="queue_size"    default="10"/>
  <arg name="max_rate"      default="0"/>       <!-- Record as fast as possible --> 
  
  <arg name="rgb_topic"        default="camera/rgb/image_rect_color"/>
  <arg name="rgb_info_topic"   default="camera/rgb/camera_info"/>
  <arg name="depth_topic"      default="camera/depth_registered/image_raw"/>
  <arg name="left_topic"       default="camera/left/image_rect_color"/>
  <arg name="left_info_topic"  default="camera/left/camera_info"/>
  <arg name="right_topic"      default="camera/right/image_rect"/>
  <arg name="right_info_topic" default="camera/right/camera_info"/>
  <arg name="odom_topic"       default="odom"/>
  <arg name="scan_topic"       default="scan"/>
  
  <arg name="rgb_image_transport"  default="raw"/>
  <arg name="depth_image_transport"  default="raw"/>

  <node name="data_recorder" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
  
    <!-- Disable any processing -->
	<param name="Mem/RehearsalSimilarity" type="string" value="1.0"/>    <!-- desactivate rehearsal -->
	<param name="Kp/WordsPerImage"        type="string" value="-1"/>     <!-- desactivate keypoints extraction -->
	<param name="Rtabmap/MaxRetrieved"    type="string" value="0"/>      <!-- desactivate global retrieval -->
	<param name="RGBD/MaxLocalRetrieved"  type="string" value="0"/>      <!-- desactivate local retrieval -->
	<param name="Rtabmap/MemoryThr"       type="string" value="1"/>      <!-- keep the WM empty --> 
	<param name="Mem/STMSize"             type="string" value="1"/>      <!-- STM=1 --> 
	<param name="publish_tf"              type="bool"   value="false"/>  <!-- don't publish TF -->
	<param name="RGBD/LocalLoopDetectionSpace" type="bool"   value="false"/> 
	<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>
	
	<param name="Rtabmap/DetectionRate"   type="string" value="$(arg max_rate)"/>
	<param name="DbSqlite3/InMemory"  type="string" value="$(arg record_in_RAM)"/>
	<param name="database_path"       type="string" value="$(arg output_path)"/>
	<param name="frame_id"            type="string" value="$(arg frame_id)"/>
	<param name="subscribe_depth"     type="bool"   value="$(arg subscribe_depth)"/>
	<param name="subscribe_laserScan" type="bool"   value="$(arg subscribe_laserScan)"/>
	<param name="subscribe_stereo"    type="bool"   value="$(arg subscribe_stereo)"/>
	<param name="queue_size"          type="int"    value="$(arg queue_size)"/>
	<param name="stereo_approx_sync"  type="bool"    value="$(arg stereo_approx_sync)"/>
	
	<!-- Hack to use a fake odom_frame_id=frame_id if subscribe_odometry = false -->
	<param if="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
	<param unless="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg frame_id)"/>
	
	<param name="rgb/image_transport" type="string" value="$(arg rgb_image_transport)"/>
    <param name="depth/image_transport" type="string" value="$(arg depth_image_transport)"/>
    <param name="left/image_transport" type="string" value="$(arg rgb_image_transport)"/>
    <param name="right/image_transport" type="string" value="$(arg rgb_image_transport)"/>
  
	<remap from="rgb/image"         to="$(arg rgb_topic)"/>
	<remap from="rgb/camera_info"   to="$(arg rgb_info_topic)"/>
  	<remap from="depth/image"       to="$(arg depth_topic)"/>
  	<remap from="left/image_rect"   to="$(arg left_topic)"/>
  	<remap from="left/camera_info"  to="$(arg left_info_topic)"/>
  	<remap from="right/image_rect"  to="$(arg right_topic)"/>
  	<remap from="right/camera_info" to="$(arg right_info_topic)"/>
  	<remap from="scan"              to="$(arg scan_topic)"/>
  	<remap from="odom"              to="$(arg odom_topic)"/>
  </node>
</launch>