// rgbd_odometry
$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --RGBD/OptimizeMaxError 0.5 --FAST/Threshold 7" odom_args:="--Odom/Strategy 0 --Vis/CorType 0 --Odom/KeyFrameThr 0.3 --OdomF2M/MaxSize 2000 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15" rgbd_sync:=true depth_scale:=1.043 frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true  odom_topic:=odom rgb_topic:=/camera/rgb/image_raw_throttle depth_topic:=/camera/depth/image_raw_throttle camera_info_topic:=/camera/rgb/camera_info_throttle approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined 
// use wheel odom
odom_frame_id:=odom_combined odom_tf_angular_variance:=0.0001 odom_tf_linear_variance:=0.0001 visual_odometry:=false
// flow 
--Vis/CorType 1 --Odom/KeyFrameThr 0.6 --Vis/BundleAdjustment 0
// robot_localization
odom_topic:=/odometry/filtered visual_odometry:=false approx_sync:=true
$ roslaunch sensor_fusion.launch odom_args:="--Odom/Strategy 0 --Vis/CorType 0 --Odom/KeyFrameThr 0.3 --OdomF2M/MaxSize 2000 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15 --FAST/Threshold 7" rgbd_image_topic:=/rtabmap/rgbd_image frame_id:=base_footprint imu_topic:=/torso_lift_imu/data wheelodom_topic:=/base_odometry/odom

$ ./gt_tf_broadcaster.py _file:=./stata-mit/2012-01-25-12-14-25_part1_floor2.gt.laser.poses _frame_id:=scan_gt _fixed_frame_id:=world _offset_time:=82.2 _offset_x:=-0.275
// or
// To make ground truth matching dataset 2012-01-25-12-14-25.bag (offset found with pcl_icp2d between end of first bag and begin of second bag)
$ rosrun tf static_transform_publisher -0.00273873 -0.38818 0 0 0 0 world world_offset 100
$ ./gt_tf_broadcaster.py _file:=./stata-mit/2012-01-25-12-33-29_part1_floor2.gt.laser.poses _frame_id:=scan_gt _fixed_frame_id:=world_offset _offset_time:=82.2 _offset_x:=-0.275
// otherwise
$ ./gt_tf_broadcaster.py _file:=./stata-mit/2012-01-25-12-33-29_part1_floor2.gt.laser.poses _frame_id:=scan_gt _fixed_frame_id:=world _offset_time:=82.2 _offset_x:=-0.275

$ ./sync_path_gt.py _frame_id:=scan_gt mapPath:=/rtabmap/mapPath

$ rostopic hz /rtabmap/grid_map

$ rosbag play --clock --pause ./stata-mit/2012-01-25-12-14-25_rgbd.bag
// or
$ rosbag play --clock --pause ./stata-mit/2012-01-25-12-33-29_rgbd.bag

//copy results (assuming we are in bags directory)
$ cp rtabmap.db gt_poses.txt rmse.txt slam_poses.txt ../results/stata_mit/2012-01-25-12-14-25/rtabmap/rgbd
//or
$ cp rtabmap.db gt_poses.txt rmse.txt slam_poses.txt ../results/stata_mit/2012-01-25-12-33-29/rtabmap/rgbd