rtabmap_ros/launch/demo/demo_robot_localization.launch

<launch>

   <!-- ROBOT LOCALIZATION VERSION: use this with ROS bag demo_mapping.bag -->
   <!-- A database "~/.ros/rtabmap.db" must be already created from -->
   <!-- the "demo_robot_mapping.launch" demo -->
   <!-- Once RTAB-Map GUI stated, you can do "Edit->Download Map" to get all the map in the GUI -->
   
  <param name="use_sim_time" type="bool" value="True"/>

  <!-- SLAM (robot side) -->
  <!-- args: "delete_db_on_start" and "udebug" -->
  <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
	<param name="frame_id" type="string" value="base_footprint"/>
	
	<param name="subscribe_depth" type="bool" value="true"/>
	<param name="subscribe_laserScan" type="bool" value="true"/>
	
	<remap from="odom" to="/az3/base_controller/odom"/>
	<remap from="scan" to="/jn0/base_scan"/>

	<remap from="rgb/image" to="data_throttled_image"/>
  	<remap from="depth/image" to="data_throttled_image_depth"/>
  	<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
  	
  	<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="10"/>
	
	<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
    <param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
    <param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
    <param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
    <param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
    <param name="Mem/InitWMWithAllNodes" type="string" value="true"/> <!-- Load the full global map in RAM -->
    <param name="RGBD/PoseScanMatching" type="string" value="true"/>  <!-- Do odometry correction with consecutive laser scans -->
	<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
	<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> 
	<param name="LccIcp/Type" type="string" value="2"/>                      <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
	<param name="LccIcp2/MaxFitness" type="string" value="10"/>
	<param name="LccBow/MaxDepth" type="string" value="0.0"/>                <!-- 3D visual words maximum depth 0=infinity -->
	<param name="LccBow/InlierDistance" type="string" value="0.1"/>          <!-- 3D visual words correspondence distance -->
  </node>
  
  <!-- Visualisation (client side) -->
  <node 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="true"/>
      <param name="queue_size" type="int" value="10"/>
      <param name="frame_id" type="string" value="base_footprint"/>
    
      <remap from="rgb/image" to="data_throttled_image"/>
      <remap from="depth/image" to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info" to="data_throttled_camera_info"/>
      <remap from="scan" to="/jn0/base_scan"/>
      <remap from="odom" to="/az3/base_controller/odom"/>
      
      <param name="rgb/image_transport" type="string" value="compressed"/>
      <param name="depth/image_transport" type="string" value="compressedDepth"/>
  </node>

</launch>