rtabmap_ros/rtabmap_legacy/launch/jfr2018/throttle_bag.launch

<?xml version="1.0"?>

<launch>
	<param name="use_sim_time" value="true"/>
	<group ns="/wide_stereo" >
	    	<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
		    <remap from="left/image"        to="left/image_raw"/>
		    <remap from="right/image"       to="right/image_raw"/>
		    <remap from="left/camera_info"  to="left/camera_info"/>
		    <remap from="right/camera_info" to="right/camera_info"/>

		    <param name="queue_size" type="int" value="10"/>
		    <param name="rate" type="double" value="15"/>
		</node>
	</group>

	<group ns="camera">
	    <node pkg="nodelet" type="nodelet" name="data_throttle" args="standalone rtabmap_ros/data_throttle">
	      <param name="rate" type="double" value="15.0"/>

	      <remap from="rgb/image_in"       to="rgb/image_raw"/>
	      <remap from="depth/image_in"     to="depth/image_raw"/>
	      <remap from="rgb/camera_info_in" to="rgb/camera_info"/>

	      <remap from="rgb/image_out"       to="rgb/image_raw_throttle"/>
	      <remap from="depth/image_out"     to="depth/image_raw_throttle"/>
	      <remap from="rgb/camera_info_out" to="rgb/camera_info_throttle"/>
	    </node>
	</group>
</launch>