rtabmap_ros/launch/azimut3/az3_mapping_client_rviz.launch

<launch>

  <group ns="rtabmap">
    <!-- Grid map assembler for rviz -->
    <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
  </group>
    
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/azimut3.rviz"/>
    
  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
    <remap from="rgb/image_in"       to="/camera/data_throttled_image"/>
    <remap from="depth/image_in"     to="/camera/data_throttled_image_depth"/>
    <remap from="rgb/camera_info_in" to="/camera/data_throttled_camera_info"/>
    <remap from="odom_in"             to="/base_controller/odom"/>
    
    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
    <remap from="odom_out"            to="odom_sync"/>

    <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="30"/>
  </node>
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
    <remap from="rgb/image"       to="data_odom_sync/image"/>
    <remap from="depth/image"     to="data_odom_sync/depth"/>
    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
    <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>