rtabmap_ros/launch/azimut3/az3_bag_record.launch

<launch>
  <!-- rosbag record camera/data_throttled_image/compressed camera/data_throttled_image_depth/compressedDepth camera/data_throttled_camera_info tf base_scan /base_controller/odom -->
  
  <include file="$(find az3_bringup)/az3_standalone.launch"/>

<!-- To control with only one joystick -->
<include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>

  <node pkg="turtlebot_teleop" type="turtlebot_teleop_joy" name="turtlebot_teleop_joystick">
    <param name="scale_angular" value="1.5"/>
    <param name="scale_linear" value="0.5"/>
    <remap from="turtlebot_teleop_joystick/cmd_vel" to="base_controller/cmd_vel"/>
  </node>

  <node pkg="joy" type="joy_node" name="joystick"/>

  <!-- OpenNI -->
  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>
  
  <!-- Throttling messages -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
      <param name="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>

</launch>