rtabmap_ros/rtabmap_demos/launch/demo_robot_mapping.launch

<?xml version="1.0"?>

<launch>

  <!-- ROBOT MAPPING VERSION: use this with ROS bag demo_mapping.bag -->
  <!-- WARNING : Database is automatically deleted on each startup -->
  <!--           See "delete_db_on_start" option below... -->

  <!-- Choose visualization -->
  <arg name="rviz" default="false" />
  <arg name="rtabmap_viz" default="true" />

  <param name="use_sim_time" type="bool" value="True"/>

  <!-- Localization-only mode -->
  <arg name="localization"      default="false"/>
  <arg     if="$(arg localization)" name="rtabmap_args"  default=""/>
  <arg unless="$(arg localization)" name="rtabmap_args"  default="--delete_db_on_start"/>

  <group ns="rtabmap">
    <!-- SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_slam" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
	  <param name="frame_id"           type="string" value="base_footprint"/>
	  <param name="wait_for_transform" type="bool" value="true"/>

	  <param name="subscribe_depth" type="bool" value="true"/>
	  <param name="subscribe_scan"  type="bool" value="true"/>

	  <!-- As /az3/base_controller/odom topic doesn't provide covariances, we use TF to get odom and we fix the covariance -->
	  <param name="odom_frame_id"            type="string" value="odom"/>
	  <param name="odom_tf_linear_variance"  type="double" value="0.001"/>
	  <param name="odom_tf_angular_variance" type="double" value="0.001"/>

	  <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"/>

	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
	  <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>  <!-- Do odometry correction with consecutive laser scans -->
	  <param name="RGBD/ProximityBySpace"     type="string" value="true"/>  <!-- Local loop closure detection (using estimated position) with locations in WM -->
	  <param name="RGBD/ProximityByTime"      type="string" value="false"/> <!-- Local loop closure detection with locations in STM -->
	  <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/> <!-- Do also proximity detection by space by merging close scans together. -->
	  <param name="Reg/Strategy"              type="string" value="1"/>     <!-- 0=Visual, 1=ICP, 2=Visual+ICP -->
	  <param name="Vis/MinInliers"        type="string" value="12"/>   <!-- 3D visual words correspondence distance -->
	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
	  <param name="RGBD/OptimizeMaxError"     type="string" value="4"/>	    <!-- Reject any loop closure causing large errors (>3x link's covariance) in the map -->
	  <param name="Reg/Force3DoF"             type="string" value="true"/>  <!-- 2D SLAM -->
	  <param name="Grid/FromDepth"            type="string" value="false"/> <!-- Create 2D occupancy grid from laser scan -->
	  <param name="Mem/STMSize"               type="string" value="30"/>    <!-- increased to 30 to avoid adding too many loop closures on just seen locations -->
	  <param name="RGBD/LocalRadius"          type="string" value="5"/>     <!-- limit length of proximity detections -->
	  <param name="Icp/CorrespondenceRatio"   type="string" value="0.2"/>   <!-- minimum scan overlap to accept loop closure -->
	  <param name="Icp/PM"                    type="string" value="false"/>
	  <param name="Icp/PointToPlane"          type="string" value="false"/>
	  <param name="Icp/MaxCorrespondenceDistance"  type="string" value="0.15"/>
	  <param name="Icp/VoxelSize"             type="string" value="0.05"/>

	  <!-- localization mode -->
	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
	  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
	  <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
   </node>

    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmap_viz)" pkg="rtabmap_viz" type="rtabmap_viz" name="rtabmap_viz" args="-d $(find rtabmap_demos)/launch/config/rgbd_gui.ini" output="screen">
  	  <param name="subscribe_depth"    type="bool" value="true"/>
      <param name="subscribe_scan"     type="bool" value="true"/>
      <param name="frame_id"           type="string" value="base_footprint"/>
      <param name="wait_for_transform" type="bool" value="true"/>

      <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>
  </group>

  <!-- Visualisation RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_demos)/launch/config/demo_robot_mapping.rviz" output="screen"/>
   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_util/point_cloud_xyzrgb">
    <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="cloud"           to="voxel_cloud" />

    <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"/>
    <param name="voxel_size" type="double" value="0.01"/>
  </node>

</launch>