rtabmap_ros/launch/tests/test_two_kinects_one_map.launch

<launch>
   
  <!-- Testing 2 Kinects localizing in the same map at the same time -->
  <!-- Prerequisities: the default ~/.ros/rtabmap.db should be 
                       already created with one of the Kinect using mapping tutorial:
                       http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping 
              $ roslaunch freenect_launch freenect.launch depth_registration:=true
              $ roslaunch rtabmap_ros rtabmap.launch args:="-d"
  -->
  
   
  <!-- Cameras -->
  <include file="$(find freenect_launch)/launch/freenect.launch">
    <arg name="depth_registration" value="True" />
    <arg name="camera" value="camera1" />
    <arg name="device_id" value="#1" />
  </include>

  <include file="$(find freenect_launch)/launch/freenect.launch">
    <arg name="depth_registration" value="True" />
    <arg name="camera" value="camera2" />
    <arg name="device_id" value="#2" />
  </include>

  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
     <arg name="namespace"         value="rtabmap1"/>
     <arg name="localization"      value="true" />
     <arg name="frame_id"          value="camera1_link" />
     <arg name="vo_frame_id"       value="odom1" />

     <arg name="rgb_topic"         value="/camera1/rgb/image_rect_color" />
     <arg name="depth_topic"       value="/camera1/depth_registered/image_raw" />
     <arg name="camera_info_topic" value="/camera1/rgb/camera_info" />

     <arg name="rtabmapviz" value="false"/>
  </include>

  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
     <arg name="namespace"         value="rtabmap2"/>
     <arg name="localization"      value="true" />
     <arg name="frame_id"          value="camera2_link" />
     <arg name="vo_frame_id"       value="odom2" />

     <arg name="rgb_topic"         value="/camera2/rgb/image_rect_color" />
     <arg name="depth_topic"       value="/camera2/depth_registered/image_raw" />
     <arg name="camera_info_topic" value="/camera2/rgb/camera_info" />

     <arg name="rtabmapviz" value="false"/>
  </include>

  <!-- Visualization RVIZ -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>

</launch>