Merged pcl_integration branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/launch/config/appearance_gui.ini

@@ -0,0 +1,40 @@
+[Gui]
+General\imagesKept=true
+General\loggerLevel=2
+General\loggerEventLevel=3
+General\loggerPauseLevel=4
+General\loggerType=1
+General\loggerPrintTime=true
+General\verticalLayoutUsed=false
+General\imageFlipped=false
+General\imageRejectedShown=true
+General\imageHighestHypShown=true
+General\beep=false
+General\keypointsOpacity=16
+General\voxelSize=0
+General\decimation=16
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\x11\0\0\x1\xf4\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0(\0\0\x1\xf4\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x3k\0\0\x1\xf4\xfc\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0(\0\0\x1\xf4\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x6 \0\0\0\x9c\xfc\x1\0\0\0\x4\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x6 \0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x5\t\0\0\x1\xf4\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0*\0\0\0\x63\0\0\x6Y\0\0\x3Z\0\0\0\x32\0\0\0\x7f\0\0\x6Q\0\0\x3R\0\0\0\0\0\0)
+General\showClouds0=true
+General\voxelSize0=0
+General\decimation0=4
+General\maxDepth0=4
+General\showScans0=true
+General\opacity0=0.6
+General\ptSize0=1
+General\opacityScan0=1
+General\ptSizeScan0=1
+General\showClouds1=true
+General\voxelSize1=0
+General\decimation1=2
+General\maxDepth1=0
+General\showScans1=true
+General\opacity1=1
+General\ptSize1=1
+General\opacityScan1=1
+General\ptSizeScan1=1
+General\showClouds2=true
+General\voxelSize2=0.01
+General\decimation2=1
+General\maxDepth2=4
+General\showScans2=true

rtabmap/launch/config/rgbd.rviz

@@ -0,0 +1,410 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Grid1
+        - /PointCloud21
+        - /TF1/Frames1
+        - /Marker1/Namespaces1
+        - /Odometry1
+        - /PointCloud22
+        - /PointCloud23
+        - /Odometry2
+        - /LaserScan1
+        - /Map1
+        - /Map1/Status1
+      Splitter Ratio: 0.5
+    Tree Height: 581
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: odom
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.02684
+        Min Value: -1.12646
+        Value: true
+      Axis: Z
+      Channel Name: rgb
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 2.34177e-38
+      Min Color: 0; 0; 0
+      Min Intensity: 9.21942e-41
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /voxel_cloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        L_forearm_link:
+          Value: true
+        L_frame_tool_link:
+          Value: true
+        L_gripper_up_link:
+          Value: true
+        L_shoulder_fixed_link:
+          Value: true
+        L_shoulder_pan_link:
+          Value: true
+        L_shoulder_tilt_link:
+          Value: true
+        L_upper_arm_link:
+          Value: true
+        R_forearm_link:
+          Value: true
+        R_frame_tool_link:
+          Value: true
+        R_gripper_up_link:
+          Value: true
+        R_shoulder_fixed_link:
+          Value: true
+        R_shoulder_pan_link:
+          Value: true
+        R_shoulder_tilt_link:
+          Value: true
+        R_upper_arm_link:
+          Value: true
+        base_footprint:
+          Value: true
+        base_laser_link:
+          Value: true
+        base_link:
+          Value: true
+        head_l_eye_eyebrow_link:
+          Value: true
+        head_l_eye_link:
+          Value: true
+        head_l_eye_pupil_link:
+          Value: true
+        head_link:
+          Value: true
+        head_r_eye_eyebrow_link:
+          Value: true
+        head_r_eye_link:
+          Value: true
+        head_r_eye_pupil_link:
+          Value: true
+        map:
+          Value: true
+        neck_bracket_link:
+          Value: true
+        neck_pan_link:
+          Value: true
+        neck_tilt_link:
+          Value: true
+        neck_top_frame:
+          Value: true
+        odom:
+          Value: true
+        openni_base_link:
+          Value: true
+        openni_camera_link:
+          Value: true
+        openni_depth_frame:
+          Value: true
+        openni_depth_optical_frame:
+          Value: true
+        openni_rgb_frame:
+          Value: true
+        openni_rgb_optical_frame:
+          Value: true
+        torso_imu_link:
+          Value: true
+        torso_link:
+          Value: true
+        torso_stand_link:
+          Value: true
+        torso_top_frame:
+          Value: true
+        wheelLB_linkWheel_link:
+          Value: true
+        wheelLB_wheel_link:
+          Value: true
+        wheelLF_linkWheel_link:
+          Value: true
+        wheelLF_wheel_link:
+          Value: true
+        wheelRB_linkWheel_link:
+          Value: true
+        wheelRB_wheel_link:
+          Value: true
+        wheelRF_linkWheel_link:
+          Value: true
+        wheelRF_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: visualization_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /visualization_marker_wheels
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Angle Tolerance: 0
+      Class: rviz/Odometry
+      Color: 255; 25; 0
+      Enabled: true
+      Keep: 1
+      Length: 1
+      Name: Odometry
+      Position Tolerance: 0
+      Topic: /odom
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.3372
+        Min Value: -0.700095
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /assembled_clouds
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 4.00237
+        Min Value: 0.462084
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Points
+      Topic: /assembled_scans
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 2.1283
+        Min Value: -0.00552607
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /cloud2
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Angle Tolerance: 0.01
+      Class: rviz/Odometry
+      Color: 255; 25; 0
+      Enabled: true
+      Keep: 1
+      Length: 1
+      Name: Odometry
+      Position Tolerance: 0.01
+      Topic: /odom_slam
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 1.97636
+        Min Value: -11.138
+        Value: true
+      Axis: X
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /jn0/base_scan
+      Use Fixed Frame: false
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /grid_map
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 16.0582
+      Focal Point:
+        X: -0.102899
+        Y: 0.0127649
+        Z: 0.650117
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.6598
+      Target Frame: base_link
+      Value: Orbit (rviz)
+      Yaw: 3.58419
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 754
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000136000002d4fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002d4000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000035a000002d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1174
+  X: 42
+  Y: 88

rtabmap/launch/config/rgbd_gui.ini

@@ -0,0 +1,41 @@
+[Gui]
+General\imagesKept=true
+General\loggerLevel=2
+General\loggerEventLevel=3
+General\loggerPauseLevel=4
+General\loggerType=1
+General\loggerPrintTime=true
+General\verticalLayoutUsed=true
+General\imageFlipped=false
+General\imageRejectedShown=true
+General\imageHighestHypShown=true
+General\beep=false
+General\keypointsOpacity=16
+General\voxelSize=0
+General\decimation=16
+MainWindow\state="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\x1\x11\0\0\x2u\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0s\0V\0\x32\x1\0\0\0(\0\0\x2u\0\0\x1\xcc\0\xff\xff\xff\0\0\0\x1\0\0\x3\xa0\0\0\x2u\xfc\x2\0\0\0\x2\xfb\0\0\0,\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0l\0o\0u\0\x64\0V\0i\0\x65\0w\0\x65\0r\x1\0\0\0(\0\0\x2u\0\0\0\xe1\0\xff\xff\xff\xfb\0\0\0\x38\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0o\0o\0p\0\x43\0l\0o\0s\0u\0r\0\x65\0V\0i\0\x65\0w\0\x65\0r\0\0\0\0\0\xff\xff\xff\xff\0\0\0\xf7\0\xff\xff\xff\0\0\0\x3\0\0\x5\xf7\0\0\0\x9c\xfc\x1\0\0\0\x4\xfb\0\0\0(\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0o\0s\0t\0\x65\0r\0i\0o\0r\x1\0\0\0\0\0\0\x5\xf7\0\0\0\x8d\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0\x63\0o\0n\0s\0o\0l\0\x65\0\0\0\0\0\xff\xff\xff\xff\0\0\0g\0\xff\xff\xff\xfb\0\0\0\x30\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0r\0\x61\0w\0l\0i\0k\0\x65\0l\0i\0h\0o\0o\0\x64\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1:\0\0\x2u\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x1\0\0\0\xe\0t\0o\0o\0l\0\x42\0\x61\0r\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0)"
+MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0*\0\0\0Y\0\0\x6\x30\0\0\x3\xd1\0\0\0\x32\0\0\0u\0\0\x6(\0\0\x3\xc9\0\0\0\0\0\0)
+General\showClouds0=true
+General\voxelSize0=0.1
+General\decimation0=4
+General\maxDepth0=4
+General\showScans0=true
+General\opacity0=0.6
+General\ptSize0=1
+General\opacityScan0=1
+General\ptSizeScan0=5
+General\showClouds1=true
+General\voxelSize1=0
+General\decimation1=4
+General\maxDepth1=0
+General\showScans1=true
+General\opacity1=1
+General\ptSize1=10
+General\opacityScan1=1
+General\ptSizeScan1=1
+General\showClouds2=true
+General\voxelSize2=0.1
+General\decimation2=1
+General\maxDepth2=4
+General\showScans2=true
+General\meshing0=true

rtabmap/launch/demo.launch

@@ -1,28 +0,0 @@
-<launch>
-	
-	<!-- RTAB-MAP LOOP CLOSURE DETECTION VERSION -->
-	<!-- WARNING : Database is automatically deleted on each startup -->
-	<!--           See "delete_db_on_start" option below... -->
-		
-	<!-- args: "delete_db_on_start" and "udebug" -->
-	<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
-	
-		<param name="config_path" value="~/.rtabmap/demo.ini" type="string"/>
-		<param name="working_directory" value="~/.rtabmap" type="string"/>  
-	</node>
-	
-	<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen"
-	 args="-d ~/.rtabmap/demo.ini"/>
-	
-	<!-- uimage pkg is from the UtiLite stack : svn checkout http://utilite.googlecode.com/svn/trunk/ros-pkg utilite -->
-	<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
-	<node name="camera" pkg="uimage" type="camera" output="screen">
-		<remap from="/camera/image" to="/image"/>
-		<param name="device_id" value="0" type="int"/>
-		<param name="video_or_images_path" value="$(find rtabmap_lib)/build/rtabmap-svn/bin/data/samples" type="string"/>
-		<param name="frame_rate" value="2.0" type="double"/>
-		<param name="width" value="0" type="int"/>
-		<param name="height" value="0" type="int"/>
-		<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
-	</node>
-</launch>

rtabmap/launch/demo/demo_appearance_localization.launch

@@ -0,0 +1,45 @@
+<launch>
+	
+	<!-- APPEARANCE-BASED LOCALIZATION VERSION -->
+
+  <group ns="rtabmap">
+	<!-- args: "delete_db_on_start" and "udebug" -->
+	<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
+	
+	    <param name="subscribe_depth" type="bool" value="false"/>        <!-- must be false for appearance-based mode -->
+        <param name="subscribe_laserScan" type="bool" value="false"/>    <!-- must be false for appearance-based mode -->
+        <param name="queue_size" type="int" value="10"/>
+    
+        <remap from="rgb/image" to="/image"/>                             <!-- connect to "image" topic of the camera below -->
+      
+		<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
+	    <param name="RGBD/Enabled" type="string" value="false"/>          <!-- False: appearance-based -->
+	    <param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
+		<param name="Rtabmap/ImageBufferSize" type="string" value="0"/>   <!-- process all images -->
+		<param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do fast detection on localization -->
+		<param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
+		<param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
+	</node>
+	
+	<!-- visualization of the "infoEx" topic sent by rtabmap node -->
+	<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
+	    
+	    <!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
+	    <!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
+		<param name="camera_node_name" type="string" value="/camera"/>      
+		 
+	</node>
+  </group>
+  
+	<!-- uimage pkg is from the UtiLite stack : svn checkout http://utilite.googlecode.com/svn/trunk/ros-pkg utilite -->
+	<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
+	<node name="camera" pkg="rtabmap" type="camera" output="screen">
+		<remap from="image" to="image"/>
+		<param name="device_id" value="0" type="int"/>
+		<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
+		<param name="frame_rate" value="2.0" type="double"/>
+		<param name="width" value="0" type="int"/>
+		<param name="height" value="0" type="int"/>
+		<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
+	</node>
+</launch>

rtabmap/launch/demo/demo_appearance_mapping.launch

@@ -0,0 +1,48 @@
+<launch>
+	
+	<!-- APPEARANCE-BASED LOOP CLOSURE DETECTION VERSION -->
+	<!-- WARNING : Database is automatically deleted on each startup -->
+	<!--           See "delete_db_on_start" option below... -->
+
+  <group ns="rtabmap">
+	<!-- args: "delete_db_on_start" and "udebug" -->
+	<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
+	
+	    <param name="subscribe_depth" type="bool" value="false"/>        <!-- must be false for appearance-based mode -->
+        <param name="subscribe_laserScan" type="bool" value="false"/>    <!-- must be false for appearance-based mode -->
+        <param name="queue_size" type="int" value="10"/>
+    
+        <remap from="rgb/image" to="/image"/>                             <!-- connect to "image" topic of the camera below -->
+      
+		<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
+	    <param name="RGBD/Enabled" type="string" value="false"/>          <!-- False: appearance-based -->
+		<param name="Rtabmap/ImageBufferSize" type="string" value="0"/>   <!-- process all images -->
+		<param name="Rtabmap/DetectionRate" type="string" value="0"/>     <!-- Go as fast as the camera rate (here 2 Hz, see below) -->
+		<param name="Mem/RehearsalSimilarity" type="string" value="0.4"/> <!-- 40% -->
+		<param name="Mem/STMSize" type="string" value="15"/>              <!-- 15 locations in short-term memory -->
+		<param name="Mem/IncrementalMemory" type="string" value="true"/>  <!-- true = SLAM mode -->
+		<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/>  <!-- On merging, update to new ID-->
+	</node>
+	
+	<!-- visualization of the "infoEx" topic sent by rtabmap node -->
+	<node name="rtabmapviz" pkg="rtabmap" type="rtabmapviz" output="screen" args="-d $(find rtabmap)/launch/config/appearance_gui.ini">
+	    
+	    <!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
+	    <!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
+		<param name="camera_node_name" type="string" value="/camera"/>      
+		 
+	</node>
+  </group>
+  
+	<!-- uimage pkg is from the UtiLite stack : svn checkout http://utilite.googlecode.com/svn/trunk/ros-pkg utilite -->
+	<!-- When parameter video_or_images_path is set, the camera uses the directory of images or the video file -->
+	<node name="camera" pkg="rtabmap" type="camera" output="screen">
+		<remap from="image" to="image"/>
+		<param name="device_id" value="0" type="int"/>
+		<param name="video_or_images_path" value="$(find rtabmap)/data" type="string"/>
+		<param name="frame_rate" value="2.0" type="double"/>
+		<param name="width" value="0" type="int"/>
+		<param name="height" value="0" type="int"/>
+		<param name="auto_restart" value="false" type="bool"/> <!-- Process only one time the data set -->
+	</node>
+</launch>

rtabmap/launch/demo/demo_data_recorder.launch

@@ -0,0 +1,31 @@
+
+<launch>
+
+  <!-- record data to RTAB-Map database format (like a ROS bag, but usable in RTAB-Map for Windows/Mac OS X) -->
+  <!-- This demo works with demo_mapping.bag -->
+
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
+	<param name="output_file_name" value="output.db" type="string"/>  
+	
+	<param name="frame_id" type="string" value="base_footprint"/>
+	
+	<param name="subscribe_odometry" type="bool" value="true"/>
+	<param name="subscribe_depth" type="bool" value="true"/>
+	<param name="subscribe_laserScan" type="bool" value="true"/>
+	
+	<remap from="odom" to="/az3/base_controller/odom"/>
+	<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"/>
+	
+	<param name="queue_size" type="int" value="10"/>
+  </node>
+
+</launch>

rtabmap/launch/demo/demo_robot_localization.launch

@@ -0,0 +1,55 @@
+
+<launch>
+
+   <!-- ROBOT LOCALIZATION VERSION: use this with ROS bag demo_mapping.bag -->
+   <!-- A database "~/.ros/rtabmap.db" must be already created from -->
+   <!-- the "demo_robot_mapping.launch" demo -->
+   <!-- Once RTAB-Map GUI stated, you can do "Edit->Download Map" to get all the map in the GUI -->
+   
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
+	<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="/az3/base_controller/odom"/>
+	<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"/>
+	
+	<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="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
+    <param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
+    <param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
+    <param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
+  </node>
+  
+  <!-- Visualisation (client side) -->
+  <node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
+  	  <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="true"/>
+      <param name="queue_size" type="int" value="10"/>
+      <param name="frame_id" type="string" value="base_footprint"/>
+    
+      <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>
+
+</launch>

rtabmap/launch/demo/demo_robot_mapping.launch

@@ -0,0 +1,53 @@
+
+<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... -->
+
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <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="/az3/base_controller/odom"/>
+	<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"/>
+	
+	<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="1"/>  <!-- Do odometry correction with consecutive laser scans -->
+	<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>  <!-- Laser scan matching when near (using estimated position) old locations in WM -->
+	<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>  <!-- Don't find loop closures in time (i.e. with locations in STM) -->
+  </node>
+  
+  <!-- Visualisation (client side) -->
+  <node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
+  	  <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="true"/>
+      <param name="queue_size" type="int" value="10"/>
+      <param name="frame_id" type="string" value="base_footprint"/>
+    
+      <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>
+
+</launch>

rtabmap/launch/demo/demo_robot_mapping_rviz.launch

@@ -0,0 +1,64 @@
+
+<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... -->
+
+  <param name="use_sim_time" type="bool" value="True"/>
+
+  <!-- SLAM (robot side) -->
+  <!-- args: "delete_db_on_start" and "udebug" -->
+  <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="/az3/base_controller/odom"/>
+	<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"/>
+	
+	<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="1"/>  <!-- Do odometry correction with consecutive laser scans -->
+	<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>  <!-- Laser scan matching when near (using estimated position) old locations in WM -->
+	<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>  <!-- Don't find loop closures in time (i.e. with locations in STM) -->
+  </node>
+  
+  <!-- Visualisation -->
+  
+  <!-- Map assembler for rviz-->
+  <node pkg="rtabmap" type="map_assembler" name="map_assembler"  output="screen" args="">
+    <param name="cloud_decimation" type="int" value="4"/>
+    <param name="cloud_voxel_size" type="double" value="0.02"/>
+    <param name="scan_voxel_size" type="double" value="0.01"/>
+  </node>
+  
+  <!-- Grid map assembler for rviz -->
+  <node pkg="rtabmap" type="grid_map_assembler" name="grid_map_assembler" output="screen"/>
+    
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
+  
+  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
+   <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
+    <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>

rtabmap/launch/demo/kinect_frames.launch

@@ -0,0 +1,23 @@
+<!-- Default frames for Kinect/PSDK5 devices
+     Places depth and RGB cameras in the same plane with 2.5cm baseline.
+     Calibration may improve results, but these defaults are reasonably accurate.
+-->
+<launch>
+  <arg name="camera" default="camera" />
+  <arg name="ns" default="" />
+
+  <arg name="pi/2" value="1.5707963267948966" />
+  <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
+
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
+        args="0 -0.02  0 0 0 0 $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_depth_frame 100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
+        args="0 -0.045 0 0 0 0  $(arg ns)/$(arg camera)_link $(arg ns)/$(arg camera)_rgb_frame 100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
+        args="$(arg optical_rotate) $(arg ns)/$(arg camera)_depth_frame $(arg ns)/$(arg camera)_depth_optical_frame  100" />  
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
+        args="$(arg optical_rotate) $(arg ns)/$(arg camera)_rgb_frame $(arg ns)/$(arg camera)_rgb_optical_frame 100" />  
+</launch>
+
+<!-- TODO Could instead store these in camera_pose_calibration format for consistency
+     with user calibrations. Blocked on camera_pose_calibration having sane dependencies. -->

rtabmap/launch/rgbd_localization.launch

@@ -0,0 +1,67 @@
+
+<launch>
+   
+   <!-- RGB-D LOCALIZATION VERSION -->
+   
+  <!-- Kinect -->
+  <include file="$(find openni_launch)/launch/openni.launch">
+    <arg name="depth_registration" value="True" />
+  </include>
+  
+  <!-- TF FRAMES -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
+    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
+   
+  <!-- Odometry -->
+  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+    <remap from="rgb/image"       to="camera/rgb/image_color"/>
+    <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
+    <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
+   
+    <param name="frame_id" type="string" value="base_link"/>
+    
+    <!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
+  	<param name="Odom/Type" type="string" value="1"/>            <!-- 0=SURF/SIFT 1=FAST/BRIEF -->
+  	<param name="Odom/ResetCountdown" type="string" value="0"/>  <!-- 0=disabled, otherwise countdown before auto-resetting odometry when lost. -->
+  </node>
+  
+  <group ns="rtabmap">
+  
+    <!-- Visual SLAM (robot side) -->
+    <!-- args: "delete_db_on_start" and "udebug" -->
+    <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
+      <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="false"/>
+	
+      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+      <remap from="odom" to="/odom"/>
+	
+      <param name="queue_size" type="int" value="30"/>
+      
+      <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
+      <param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
+      <param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
+      <param name="Mem/STMSize" type="string" value="1"/>               <!-- 1 location in short-term memory -->
+      <param name="Mem/IncrementalMemory" type="string" value="false"/>  <!-- false = Localization mode-->
+      <param name="LccBow/MinInliers" type="string" value="10"/>        <!-- Minimum inliers to accept a loop closure -->
+    </node>
+  
+    <!-- Visualisation (client side) -->
+    <node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
+      <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="false"/>
+      <param name="queue_size" type="int" value="30"/>
+    
+      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+      <remap from="odom" to="/odom"/>
+      
+      <remap from="reset_odom" to="/reset_odom"/> <!-- to call rtabmap/visual_odometry "reset_odom" service -->
+    </node>
+  
+  </group>
+
+</launch>

rtabmap/launch/rgbd_mapping.launch

@@ -0,0 +1,58 @@
+
+<launch>
+   
+   <!-- RGB-D MAPPING VERSION -->
+   <!-- WARNING : Database is automatically deleted on each startup -->
+   <!--           See "delete_db_on_start" option below... -->
+   
+  <!-- Kinect -->
+  <include file="$(find openni_launch)/launch/openni.launch">
+    <arg name="depth_registration" value="True" />
+  </include>
+  
+  <!-- TF FRAMES -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
+    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
+   
+  <!-- Odometry -->
+  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+    <remap from="rgb/image"       to="camera/rgb/image_color"/>
+    <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
+    <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
+   
+    <param name="frame_id" type="string" value="base_link"/>
+  </node>
+  
+  <group ns="rtabmap">
+  
+    <!-- Visual SLAM (robot side) -->
+    <!-- args: "delete_db_on_start" and "udebug" -->
+    <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
+      <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="false"/>
+	
+      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+      <remap from="odom" to="/odom"/>
+	
+      <param name="queue_size" type="int" value="30"/>
+    </node>
+  
+    <!-- Visualisation (client side) -->
+    <node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
+      <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="false"/>
+      <param name="queue_size" type="int" value="30"/>
+    
+      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+      <remap from="odom" to="/odom"/>
+      
+      <remap from="reset_odom" to="/reset_odom"/> <!-- to call rtabmap/visual_odometry "reset_odom" service -->
+    </node>
+  
+  </group>
+
+</launch>

rtabmap/launch/rgbd_mapping_rviz.launch

@@ -0,0 +1,79 @@
+
+<launch>
+   
+   <!-- RGB-D MAPPING VERSION -->
+   <!-- WARNING : Database is automatically deleted on each startup -->
+   <!--           See "delete_db_on_start" option below... -->
+   
+  <!-- Kinect -->
+  <include file="$(find openni_launch)/launch/openni.launch">
+    <arg name="depth_registration" value="True" />
+  </include>
+  
+  <!-- TF FRAMES -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
+    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
+   
+  <!-- Odometry -->
+  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+    <remap from="rgb/image"       to="camera/rgb/image_color"/>
+    <remap from="depth/image"     to="camera/depth_registered/image_raw"/>
+    <remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
+   
+    <param name="frame_id" type="string" value="base_link"/>
+  </node>
+  
+  <group ns="rtabmap">
+  
+    <!-- Visual SLAM -->
+    <!-- args: "delete_db_on_start" and "udebug" -->
+    <node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
+      <param name="subscribe_depth" type="bool" value="true"/>
+      <param name="subscribe_laserScan" type="bool" value="false"/>
+	
+      <remap from="rgb/image" to="/camera/rgb/image_color"/>
+      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
+      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
+      <remap from="odom" to="/odom"/>
+	
+      <param name="queue_size" type="int" value="30"/>
+    </node>
+        
+  </group>
+  
+  <!-- Map assembler for rviz -->
+  <node pkg="rtabmap" type="map_assembler" name="map_assembler"  output="screen">
+    <remap from="infoEx"       to="rtabmap/infoEx"/>
+    <param name="cloud_decimation" type="int" value="4"/>
+    <param name="cloud_voxel_size" type="double" value="0.02"/>
+    <param name="scan_voxel_size" type="double" value="0.01"/>
+  </node>
+    
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
+    
+  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
+  <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
+  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
+    <remap from="rgb/image_in"       to="camera/rgb/image_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="odom_in"             to="odom"/>
+    
+    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
+    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
+    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
+    <remap from="odom_out"            to="odom_sync"/>
+    
+    <param name="queue_size" type="int" value="30"/>
+  </node>
+  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
+    <remap from="rgb/image"       to="data_odom_sync/image"/>
+    <remap from="depth/image"     to="data_odom_sync/depth"/>
+    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
+    <remap from="cloud"           to="voxel_cloud" />
+    
+    <param name="queue_size" type="int" value="10"/>
+    <param name="voxel_size" type="double" value="0.01"/>
+  </node>
+
+</launch>

rtabmap/launch/tests/test_odometry_FAST.launch

@@ -0,0 +1,54 @@
+
+<launch>
+   
+   <!-- Kinect -->
+  <include file="$(find openni_launch)/launch/openni.launch">
+  	<arg name="depth_registration" value="True" />
+  </include>
+  
+  <!-- TF FRAMES -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
+  	args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
+   
+   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
+   
+  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
+  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
+    <remap from="rgb/image_in"       to="camera/rgb/image_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="odom_in"             to="odom"/>
+    
+    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
+    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
+    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
+    <remap from="odom_out"            to="odom_sync"/>
+    
+    <param name="queue_size" type="int" value="30"/>
+  </node>
+  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
+    <remap from="rgb/image"       to="data_odom_sync/image"/>
+    <remap from="depth/image"     to="data_odom_sync/depth"/>
+    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
+    <remap from="cloud"           to="voxel_cloud" />
+    
+    <param name="queue_size" type="int" value="10"/>
+    <param name="voxel_size" type="double" value="0.01"/>
+  </node>
+  
+  <!-- Odometry -->
+  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+  	<remap from="rgb/image"       to="camera/rgb/image_color"/>
+  	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>
+  	<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
+	<remap from="odom" to="odom"/>
+    
+  	<param name="frame_id" type="string" value="base_link"/>
+  	
+  	<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
+  	<param name="Odom/Type" type="string" value="1"/>            <!-- 0=SURF/SIFT 1=FAST/BRIEF -->
+  	<param name="Odom/ResetCountdown" type="string" value="0"/>  <!-- 0=disabled, otherwise countdown before auto-resetting odometry when lost. -->
+  </node>
+  
+  <node pkg="rviz" type="rviz" name="rviz" output="screen"/>
+</launch>

rtabmap/launch/tests/test_odometry_SIFT.launch

@@ -0,0 +1,55 @@
+
+<launch>
+   
+   <!-- Kinect -->
+  <include file="$(find openni_launch)/launch/openni.launch">
+  	<arg name="depth_registration" value="True" />
+  </include>
+  
+  <!-- TF FRAMES -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
+  	args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
+   
+   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
+   
+  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
+  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
+    <remap from="rgb/image_in"       to="camera/rgb/image_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="odom_in"             to="odom"/>
+    
+    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
+    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
+    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
+    <remap from="odom_out"            to="odom_sync"/>
+    
+    <param name="queue_size" type="int" value="30"/>
+  </node>
+  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
+    <remap from="rgb/image"       to="data_odom_sync/image"/>
+    <remap from="depth/image"     to="data_odom_sync/depth"/>
+    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
+    <remap from="cloud"           to="voxel_cloud" />
+    
+    <param name="queue_size" type="int" value="10"/>
+    <param name="voxel_size" type="double" value="0.01"/>
+  </node>
+  
+  <!-- Odometry -->
+  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+  	<remap from="rgb/image"       to="camera/rgb/image_color"/>
+  	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>
+  	<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
+	<remap from="odom" to="odom"/>
+    
+  	<param name="frame_id" type="string" value="base_link"/>
+  	
+  	<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
+  	<param name="Odom/Type" type="string" value="0"/>            <!-- 0=SURF/SIFT 1=FAST/BRIEF -->
+  	<param name="Kp/DetectorStrategy" type="string" value="1"/>  <!-- 0=SURF 1=SIFT, used only when Odom/Type=0 -->
+  	<param name="Odom/ResetCountdown" type="string" value="0"/>  <!-- 0=disabled, otherwise countdown before auto-resetting odometry when lost. -->
+  </node>
+  
+  <node pkg="rviz" type="rviz" name="rviz" output="screen"/>
+</launch>

rtabmap/launch/tests/test_odometry_SURF.launch

@@ -0,0 +1,55 @@
+
+<launch>
+   
+   <!-- Kinect -->
+  <include file="$(find openni_launch)/launch/openni.launch">
+  	<arg name="depth_registration" value="True" />
+  </include>
+  
+  <!-- TF FRAMES -->
+  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
+  	args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
+   
+   <node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
+   
+  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
+  <node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
+    <remap from="rgb/image_in"       to="camera/rgb/image_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="odom_in"             to="odom"/>
+    
+    <remap from="rgb/image_out"       to="data_odom_sync/image"/>
+    <remap from="depth/image_out"     to="data_odom_sync/depth"/>
+    <remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
+    <remap from="odom_out"            to="odom_sync"/>
+    
+    <param name="queue_size" type="int" value="30"/>
+  </node>
+  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
+    <remap from="rgb/image"       to="data_odom_sync/image"/>
+    <remap from="depth/image"     to="data_odom_sync/depth"/>
+    <remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
+    <remap from="cloud"           to="voxel_cloud" />
+    
+    <param name="queue_size" type="int" value="10"/>
+    <param name="voxel_size" type="double" value="0.01"/>
+  </node>
+  
+  <!-- Odometry -->
+  <node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
+  	<remap from="rgb/image"       to="camera/rgb/image_color"/>
+  	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>
+  	<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
+	<remap from="odom" to="odom"/>
+    
+  	<param name="frame_id" type="string" value="base_link"/>
+  	
+  	<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
+  	<param name="Odom/Type" type="string" value="0"/>            <!-- 0=SURF/SIFT 1=FAST/BRIEF -->
+  	<param name="Kp/DetectorStrategy" type="string" value="0"/>  <!-- 0=SURF 1=SIFT, used only when Odom/Type=0 -->
+  	<param name="Odom/ResetCountdown" type="string" value="0"/>  <!-- 0=disabled, otherwise countdown before auto-resetting odometry when lost. -->
+  </node>
+  
+  <node pkg="rviz" type="rviz" name="rviz" output="screen"/>
+</launch>