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_scan"  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/NeighborLinkRefining"  type="string" value="false"/> 
	<param name="RGBD/ProximityBySpace"      type="string" value="false"/> 
	<param name="RGBD/ProximityByTime"       type="string" value="false"/> 
	<param name="RGBD/OptimizeFromGraphEnd"  type="string" value="true"/> 
	<param name="Reg/Strategy"               type="string" value="1"/>
	<param name="Icp/Iterations"             type="string" value="30"/>
	<param name="Icp/VoxelSize"              type="string" value="0"/>
	<param name="Vis/MinInliers"             type="string" value="5"/>
	<param name="Vis/MaxDepth"               type="string" value="4.0"/>
	<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/MaxFeatures"             type="string" value="400"/>
	<param name="Optimizer/Slam2D"           type="string" value="true"/>
	<param name="Reg/Force3DoF"              type="string" value="true"/> 
  </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_scan"  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>