rtabmap_ros/launch/azimut3/az3_mapping_robot.launch

<launch>

  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
  <include file="$(find az3_bringup)/az3_standalone_openni.launch"/>
  <include file="$(find az3_bringup)/joystick.launch"/>
  
  <!-- Throttling messages -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
      <param name="max_rate" type="double" value="10.0"/>
   
      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
    
      <remap from="rgb/image_out"       to="data_throttled_image"/>
      <remap from="depth/image_out"     to="data_throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_throttled_camera_info"/>
    </node>  
  </group>  

  <!-- SLAM (robot side) -->
  <!-- args: "delete_db_on_start" and "udebug" -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
	  <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="/base_controller/odom"/>
	  <remap from="scan" to="/base_scan"/>

	  <remap from="rgb/image" to="/camera/data_throttled_image"/>
  	  <remap from="depth/image" to="/camera/data_throttled_image_depth"/>
  	  <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
	
	  <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="RGBD/ScanMatchingSize" type="string" value="0"/> 
	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/> 
	  <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/> 
	  <param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
	  <param name="LccIcp/Type" type="string" value="2"/>
	  <param name="LccIcp2/Iterations" type="string" value="100"/>
	  <param name="LccIcp2/VoxelSize" type="string" value="0"/>
	  <param name="LccBow/MinInliers" type="string" value="5"/>
	  <param name="LccBow/MaxDepth" type="string" value="4.0"/>
	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>
	  <param name="RGBD/AngularUpdate" type="string" value="0.01"/>
	  <param name="RGBD/LinearUpdate" type="string" value="0.01"/>
	  <param name="Rtabmap/TimeThr" type="string" value="700"/>
	  <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
    </node>
  </group>
</launch>