rtabmap_ros/launch/data_recorder.launch

<launch>
  <node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
	<param name="output_file_name" value="output.db" type="string"/>  
	
	<param name="frame_id" type="string" value="camera_link"/>
	
	<param name="subscribe_odometry" type="bool" value="false"/>
	<param name="subscribe_depth" type="bool" value="true"/>
	<param name="subscribe_laserScan" type="bool" value="false"/>

	<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="raw"/>
    <param name="depth/image_transport" type="string" value="raw"/>
	
	<param name="queue_size" type="int" value="10"/>
  </node>

<!-- Throttling messages -->
  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager"/>
  <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle standalone_nodelet" output="screen">
    <param name="max_rate" type="double" value="10.0"/>
   
    <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="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>   
  
  <node pkg="image_view" type="image_view" name="image_view">
  	<remap from="image" to="/camera/depth_registered/image_raw"/>
  </node>

</launch>