rtabmap_ros/rtabmap_examples/launch/test_k4a_cloud_only.launch

<?xml version="1.0"?>
<launch>

    <arg name="rtabmap_viz"    default="true"/>

    <include file="$(find azure_kinect_ros_driver)/launch/driver.launch">
       <arg name="point_cloud" value="false"/>
       <arg name="rgb_point_cloud" value="false"/>
       <arg name="fps" value="15"/>
    </include>

    <group ns="rtabmap">

      <node pkg="nodelet" type="nodelet" name="points_xyz" args="standalone rtabmap_util/point_cloud_xyz" output="screen">
        <remap from="depth/image"       to="/depth_to_rgb/image_raw"/>
        <remap from="depth/camera_info" to="/depth_to_rgb/camera_info"/>
        <remap from="cloud"             to="voxel_cloud" />

        <param name="decimation"  type="double" value="4"/>
        <param name="voxel_size"  type="double" value="0.05"/>
        <param name="max_depth"   type="double" value="5"/>
        <param name="normal_k"    type="int"    value="10"/>
        <param name="approx_sync" type="bool"   value="false"/>
      </node>

      <node pkg="rtabmap_odom" type="icp_odometry" name="icp_odometry" output="screen">
        <remap from="scan_cloud" to="voxel_cloud"/>
        <param name="frame_id" type="string" value="camera_base"/>

        <!-- ICP parameters -->
        <param name="Icp/PointToPlane"        type="string" value="true"/>
        <param name="Icp/PM"                  type="string" value="true"/>
        <param name="Icp/PMOutlierRatio"      type="string" value="0.7"/>

        <!-- Odom parameters -->
        <param name="OdomF2M/ScanSubtractRadius" type="string" value="0.05"/>
        <param name="OdomF2M/ScanMaxSize"        type="string" value="5000"/>
        <param name="Odom/ScanKeyFrameThr"       type="string" value="0.5"/>
      </node>

      <node pkg="rtabmap_slam" type="rtabmap" name="rtabmap" output="screen" args="-d">
        <param name="frame_id"             type="string" value="camera_base"/>
        <param name="subscribe_depth"      type="bool" value="false"/>
        <param name="subscribe_rgb"        type="bool" value="false"/>
        <param name="subscribe_scan_cloud" type="bool" value="true"/>
        <param name="approx_sync"          type="bool" value="false"/>

        <remap from="scan_cloud" to="voxel_cloud"/>

        <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/>
        <param name="RGBD/ProximityOdomGuess"        type="string" value="true"/>

        <!-- ICP parameters -->
        <param name="Icp/PointToPlane"        type="string" value="true"/>
        <param name="Icp/PM"                  type="string" value="true"/>
        <param name="Icp/PMOutlierRatio"      type="string" value="0.7"/>
        <param name="Icp/MaxTranslation"      type="string" value="0.5"/>
      </node>

      <node if="$(arg rtabmap_viz)" name="rtabmap_viz" pkg="rtabmap_viz" type="rtabmap_viz" output="screen">
        <param name="frame_id" type="string" value="camera_base"/>
        <param name="subscribe_rgb" type="bool" value="false"/>
        <param name="subscribe_depth" type="bool" value="false"/>
        <param name="subscribe_odom_info" type="bool" value="true"/>
        <param name="subscribe_scan_cloud" type="bool" value="true"/>
        <param name="approx_sync" type="bool" value="false"/>
        <remap from="scan_cloud" to="voxel_cloud"/>
      </node>

  </group>

</launch>