rtabmap_ros/launch/azimut3/az3_mapping_client.launch

<launch>

  <!-- Remote teleop -->
  <!-- <include file="$(find az3_bringup)/joystick.launch"/> -->

  <!-- We have two nodes (grid_map_assembler and rviz) subscribing to /rtabmap/mapData, so use -->
  <!-- a relay on this machine, same for images -->
  <node name="mapData_relay" type="relay" pkg="topic_tools" args="/rtabmap/mapData /rtabmap/mapData_relay"/>
  <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay"/>
  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
  <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />

  <!-- Grid map assembler for rviz -->
  <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen">
    <remap from="mapData" to="rtabmap/mapData_relay"/>
    <remap from="grid_map" to="rtabmap/grid_map"/>
  </node>
    
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
  
  <!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
    <remap from="rgb/image"       to="/camera/data_throttled_image_relay"/>
    <remap from="depth/image"     to="/camera/data_throttled_image_depth_relay"/>
    <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
    <remap from="cloud"           to="voxel_cloud" />
    
    <param name="queue_size" type="int" value="10"/>
    <param name="voxel_size" type="double" value="0.01"/>
  </node>
</launch>