rtabmap_ros/launch/demo/demo_stereo_outdoor.launch

<launch>
   
   <!--
      Demo of outdoor stereo mapping. 
      From bag: 
      $ rosbag record 
            /stereo_camera/left/image_raw_throttle/compressed 
            /stereo_camera/right/image_raw_throttle/compressed 
            /stereo_camera/left/camera_info_throttle 
            /stereo_camera/right/camera_info_throttle 
            /tf
    
      $ roslaunch rtabmap demo_stereo_outdoor.launch
      $ rosbag play -.-clock stereo_oudoorA.bag
   -->
   
   <!-- Choose visualization -->
   <arg name="rviz" default="true" />
   <arg name="rtabmapviz" default="false" />
    
   <param name="use_sim_time" type="bool" value="True"/>
   
   <!-- Just to uncompress images for stereo_image_rect -->
   <node name="republish_left" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
   <node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />

   <!-- Run the ROS package stereo_image_proc for image rectification -->
   <group ns="/stereo_camera" >
      <node pkg="nodelet" type="nodelet" name="stereo_nodelet"  args="manager"/>
   
      <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
         <remap from="left/image_raw"    to="left/image_raw_throttle_relay"/>
         <remap from="left/camera_info"  to="left/camera_info_throttle"/>
         <remap from="right/image_raw"   to="right/image_raw_throttle_relay"/>
         <remap from="right/camera_info" to="right/camera_info_throttle"/>
         <param name="disparity_range" value="128"/>
      </node>
   </group>
         
   <!-- Stereo Odometry -->   
   <node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
      <remap from="left/image_rect"       to="/stereo_camera/left/image_rect"/>
      <remap from="right/image_rect"      to="/stereo_camera/right/image_rect"/>
      <remap from="left/camera_info"      to="/stereo_camera/left/camera_info_throttle"/>
      <remap from="right/camera_info"     to="/stereo_camera/right/camera_info_throttle"/>
      <remap from="odom"                  to="/odometry"/>

      <param name="frame_id" type="string" value="base_footprint"/>
      <param name="odom_frame_id" type="string" value="odom"/>

      <param name="Odom/InlierDistance" type="string" value="0.1"/>
      <param name="Odom/MinInliers" type="string" value="10"/>
      <param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
      <param name="Odom/MaxDepth" type="string" value="10"/>
      <param name="OdomBow/NNDR" type="string" value="0.8"/>
      <param name="GFTT/MaxCorners" type="string" value="500"/>
      <param name="GFTT/MinDistance" type="string" value="5"/>
      <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
   </node>
     
   <group ns="rtabmap">   
      <!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
      <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
         <param name="frame_id" type="string" value="base_footprint"/>
         <param name="subscribe_stereo" type="bool" value="true"/>
         <param name="subscribe_depth" type="bool" value="false"/>

         <remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
         <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
         <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
         <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>

         <remap from="odom" to="/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="Kp/WordsPerImage" type="string" value="200"/>
         <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
         <param name="Kp/DetectorStrategy" type="string" value="0"/>   <!-- use SURF -->
		 <param name="Kp/NNStrategy" type="string" value="1"/>         <!-- kdTree -->

         <param name="SURF/HessianThreshold" type="string" value="1000"/>

         <param name="LccBow/MaxDepth" type="string" value="5"/>
         <param name="LccBow/MinInliers" type="string" value="10"/>
         <param name="LccBow/InlierDistance" type="string" value="0.02"/>

         <param name="LccReextract/Activated" type="string" value="true"/>
         <param name="LccReextract/MaxWords" type="string" value="500"/>
         
         <!-- Disable graph optimization because we use map_optimizer node below -->
         <param name="RGBD/ToroIterations" type="string" value="0"/> 
      </node>
    
      <!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
      <node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
      
      <node if="$(arg rviz)" pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
         <param name="occupancy_grid" type="bool" value="true"/>
         <remap from="mapData" to="mapData_optimized"/>
         <remap from="grid_projection_map" to="/map"/>
      </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_stereo" type="bool" value="true"/>
         <param name="subscribe_odom_info" type="bool" value="true"/>
         <param name="queue_size" type="int" value="10"/>
         <param name="frame_id" type="string" value="base_footprint"/>
         <remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
         <remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
         <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
         <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
         <remap from="odom_info" to="/odom_info"/>
         <remap from="odom" to="/odometry"/>
         <remap from="mapData" to="mapData_optimized"/>
      </node>
         
   </group>
  
   <!-- Visualisation RVIZ --> 
   <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>

</launch>