rtabmap_ros/rtabmap/launch/loop_closure_detection.launch

<launch>
	
	<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
	<!-- WARNING : Database is automatically deleted on each startup -->
	<!--           See "delete_db_on_start" option below... -->
		
	<!-- args: "delete_db_on_start" and "udebug" -->
	<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start"/>
	
	<node name="rtabmap_gui" pkg="rtabmap" type="rtabmap_gui" output="screen"/>
	
	<node name="camera" pkg="rtabmap_image" type="camera" output="screen">
		<remap from="/camera/image" to="/image"/>
		<param name="device_id" value="0" type="int"/>
		<param name="frame_rate" value="1.0" type="double"/>
		<param name="width" value="640" type="int"/>
		<param name="height" value="480" type="int"/>
	</node>
</launch>