rtabmap_ros/launch/rgbd_localization_rviz.launch

<launch>
   
   <!-- RGB-D LOCALIZATION VERSION -->
     
   <!-- ODOMETRY MAIN ARGUMENTS: 
        -"strategy"        : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
        -"feature"         : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
        -"nn"              : 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  
        -"max_depth"       : Maximum features depth (m)  
        -"min_inliers"     : Minimum visual correspondences to accept a transformation (m)  
        -"inlier_distance" : RANSAC maximum inliers distance (m)  
        -"local_map"       : 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="max_depth" default="4.0" />
   <arg name="min_inliers" default="20" />
   <arg name="inlier_distance" default="0.02" />
   <arg name="local_map" default="1000" />
   
  <!-- TF FRAMES -->
  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
     
  <group ns="rtabmap">
  
    <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
      <remap from="rgb/image"       to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image"     to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
   
      <param name="frame_id" type="string" value="base_link"/>
      
      <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="$(arg nn)"/>
	  <param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>  
	  <param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/> 
	  <param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>       
      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>  
    </node>
  
    <!-- Visual SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_laserScan" type="bool" value="false"/>
	
      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
      <remap from="odom" to="odom"/>
	
      <param name="queue_size" type="int" value="30"/>
      
      <!-- 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="LccBow/MinInliers" type="string" value="10"/>        <!-- Minimum inliers to accept a loop closure -->
      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> 
    </node>
    
  </group>
  
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.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_ros/data_odom_sync standalone_nodelet">
    <remap from="rgb/image_in"       to="camera/rgb/image_rect_color"/>
    <remap from="depth/image_in"     to="camera/depth_registered/image_raw"/>
    <remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
    <remap from="odom_in"             to="rtabmap/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="queue_size" type="int" value="30"/>
  </node>
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/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>