rtabmap_ros/launch/azimut3/az3_mapping_robot_kinect_scan.launch

<launch>

  <arg name="rtabmap_args" default="" />
  <arg name="localization" default="false" />

  <!-- AZIMUT 3 bringup: launch motors/odometry -->
  <include file="$(find az3_bringup)/az3_standalone.launch"/>
  
  <!-- OpenNI -->
  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>

  <!-- SLAM (robot side) -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
      <param name="frame_id"            type="string" value="base_footprint"/>
      <param name="subscribe_laserScan" type="bool"   value="true"/>
      <param name="use_action_for_goal" type="bool"   value="true"/>

      <remap from="scan"            to="/kinect_scan"/>
      <remap from="odom"            to="/base_controller/odom"/>
      <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="goal_out"        to="current_goal"/>	
      <remap from="move_base"       to="/planner/move_base"/>
      <remap from="grid_map"        to="/map"/>

      <!-- RTAB-Map's parameters -->
      <param unless="$(arg localization)" name="Rtabmap/TimeThr"        type="string" value="500"/>
      <param if="$(arg localization)"     name="Mem/IncrementalMemory"  type="string" value="false"/>
      <param if="$(arg localization)"     name="Mem/InitWMWithAllNodes" type="string" value="true"/>
      <param name="RGBD/PoseScanMatching"        type="string" value="true"/>           
      <param name="RGBD/LocalRadius"             type="string" value="4"/>  
      <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
      <param name="Rtabmap/DetectionRate"        type="string" value="1"/>
      <param name="RGBD/OptimizeSlam2d"          type="string" value="true"/>
      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="true"/>
      <param name="RGBD/OptimizeVarianceIgnored" type="string" value="false"/>
      <param name="RGBD/PlanAngularVelocity"     type="string" value="1.0"/>  <!-- preference for path traversed forward -->
      <param name="LccBow/Force2D"               type="string" value="true"/>
      <param name="LccIcp/Type"                  type="string" value="2"/>
      <param name="LccIcp2/CorrespondenceRatio"  type="string" value="0.2"/>
    </node>
  </group>
  
  <!-- teleop -->
  <node name="joy" pkg="joy" type="joy_node"/>
  <group ns="teleop">
     <remap from="joy" to="/joy"/>
     <node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
     <param name="cmd_eta/abtr_priority" value="50"/>
  </group>

  <!-- ROS navigation stack move_base -->
  <group ns="planner">
     <remap from="scan"             to="/kinect_scan"/>
     <remap from="obstacles_cloud"       to="/obstacles_cloud"/>
     <remap from="ground_cloud"          to="/ground_cloud"/>
     <remap from="map"                   to="/map"/>
        
     <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
        <param name="base_global_planner" value="navfn/NavfnROS"/>
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml"  command="load" ns="global_costmap" />
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params_2d.yaml"  command="load" ns="local_costmap" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params.yaml"      command="load" ns="local_costmap" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml"     command="load" ns="global_costmap"/>
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
     </node>
   		
     <param name="cmd_vel/abtr_priority" value="10"/>
  </group>

  <node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
     <remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
  </node>

  <!-- Arbitration between teleop and planner -->
  <node name="register_cmd_eta" pkg="abtr_priority" type="register"
        args="/cmd_eta /teleop/cmd_eta"/>
  <node name="register_cmd_vel" pkg="abtr_priority" type="register"
        args="/cmd_vel /planner/cmd_vel"/>
  
  <!-- Throttling messages -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager">
      <param name="rate" type="double" value="3"/>

      <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="throttled_image"/>
      <remap from="depth/image_out"     to="throttled_image_depth"/>
      <remap from="rgb/camera_info_out" to="throttled_camera_info"/>
    </node>

    <!-- for the planner -->
    <node pkg="nodelet" type="nodelet" name="obstacle_nodelet_manager"  args="manager" output="screen"/>
    <node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz obstacle_nodelet_manager">
      <remap from="depth/image"        to="throttled_image_depth"/>
      <remap from="depth/camera_info"  to="throttled_camera_info"/>
      <remap from="cloud"              to="cloudXYZ" />
      <param name="decimation"  type="int" value="2"/>
      <param name="max_depth"   type="double" value="4.0"/>
      <param name="voxel_size"  type="double" value="0.02"/>
    </node>
  
    <node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection obstacle_nodelet_manager">
      <remap from="cloud"     to="cloudXYZ"/>
      <remap from="obstacles" to="/obstacles_cloud"/>
      <remap from="ground"    to="/ground_cloud"/>

      <param name="frame_id"             type="string" value="base_footprint"/>		
      <param name="map_frame_id"         type="string" value="map"/>
      <param name="wait_for_transform"   type="bool" value="true"/>
      <param name="min_cluster_size"     type="int" value="20"/>
      <param name="max_obstacles_height" type="double" value="0.4"/>
      <param name="ground_normal_angle"  type="double" value="0.1"/>
    </node>
    
    <!-- scan from the camera -->
    <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera_nodelet_manager">
      <remap from="image"       to="depth_registered/image_raw"/>
      <remap from="camera_info" to="depth_registered/camera_info"/>
      <remap from="scan"        to="/kinect_scan"/>
      <param name="range_max" type="double" value="4"/>
    </node>   
  </group>
</launch>