rtabmap_ros/launch/tests/rgbdslam_datasets.launch

<launch>
   
   <!-- Example to run rgbd datasets:
   $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
   $ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag

   $ roslaunch rtabmap_ros rgbdslam_datasets.launch feature=6
   $ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag
   -->
   
   <param name="use_sim_time" type="bool" value="True"/>
   
   <!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
        -Strategy: 0=BOW (bag-of-words) 1=Optical Flow
        -Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
        -Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE 
           Set to 1 for float descriptor like SIFT/SURF                  
           Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK      
        -Local map size: number of unique features to keep track 
    -->
   <arg name="strategy" default="0" />
   <arg name="feature" default="6" />
   <arg name="nn" default="3" />
   <arg name="local_map" default="1000" />
   
   <!-- Choose visualization -->
   <arg name="rviz" default="true" />
   <arg name="rtabmapviz" default="false" /> 
 
  <!-- TF FRAMES -->
  <node pkg="tf" type="static_transform_publisher" name="world_to_map" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /world /map 100" />
    
      
  <group ns="rtabmap">
  
    <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <remap from="rgb/image"       to="/camera/rgb/image_color"/>
      <remap from="depth/image"     to="/camera/depth/image"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
	  
	  <param name="Odom/Strategy" type="string" value="$(arg strategy)"/> 
	  <param name="Odom/FeatureType" type="string" value="$(arg feature)"/>            
      <param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
      <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/> 
      
      <param name="frame_id" type="string" value="kinect"/>
      <param name="publish_tf" type="bool" value="false"/>
      <param name="queue_size" type="int" value="30"/>
      <param name="wait_for_transform" type="bool" value="true"/>
      <param name="ground_truth_frame_id" type="string" value="world"/>
    </node>
    <!-- rename the child frame of odometry -->
    <node name="odom_msg_to_tf" pkg="rtabmap_ros" type="odom_msg_to_tf">
      <param name="frame_id" type="string" value="kinect_est"/>
    </node>
    
    <!-- Visual SLAM -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_laserScan" type="bool" value="false"/>
      
      <param name="frame_id" type="string" value="kinect"/>
      <param name="ground_truth_frame_id" type="string" value="world"/>
	
      <remap from="rgb/image" to="/camera/rgb/image_color"/>
      <remap from="depth/image" to="/camera/depth/image"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="odom" to="odom"/>
      
      <param name="LccBow/MinInliers" type="string" value="10"/>
      <param name="LccBow/InlierDistance" type="string" value="0.05"/>

      <param name="queue_size" type="int" value="30"/>
    </node>
    
    <!-- Visualisation  -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_laserScan" type="bool" value="false"/>
      <param name="subscribe_odom_info" type="bool" value="true"/>
      <param name="queue_size" type="int" value="30"/>
      
      <param name="frame_id" type="string" value="kinect"/>
    
      <remap from="rgb/image" to="/camera/rgb/image_color"/>
      <remap from="depth/image" to="/camera/depth/image"/>
      <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
      <remap from="odom" to="odom"/>
    </node>
        
  </group>
  
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbdslam_datasets.rviz"/>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
    <remap from="rgb/image"       to="/camera/rgb/image_color"/>
    <remap from="depth/image"     to="/camera/depth/image"/>
    <remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
    <remap from="cloud"           to="voxel_cloud" />
    
    <param name="queue_size" type="int" value="10"/>
    <param name="decimation" type="double" value="4"/>
  </node>

</launch>