rtabmap_ros/launch/stereo_mapping.launch

<launch>
   <!-- Your camera should be calibrated and publishing rectified left and right 
        images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
        Example:
           $ roslaunch rtabmap_ros bumblebee.launch -->
 
  <!-- Choose visualization -->
  <arg name="rtabmapviz"              default="true" /> 
  <arg name="rviz"                    default="false" />
  
  <!-- Corresponding config files -->
  <arg name="rtabmapviz_cfg"          default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
  <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
  
  <arg name="frame_id"                default="base_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  <arg name="time_threshold"          default="0"/>             <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
  <arg name="optimize_from_last_node" default="false"/>         <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
  <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
  <arg name="launch_prefix"           default=""/>
  
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
  <arg name="approximate_sync"        default="false"/>         <!-- if timestamps of the stereo images are not synchronized -->
  <arg name="compressed"              default="false"/>
  <arg name="convert_depth_to_mm"     default="true"/>
   
  <arg name="subscribe_scan"          default="false"/>         <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
  <arg name="scan_topic"              default="/scan"/>
   
  <arg name="visual_odometry"         default="true"/>          <!-- Generate visual odometry -->
  <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
  
  <arg name="namespace"               default="rtabmap"/>
  <arg name="wait_for_transform"      default="0.1"/>
  
  <!-- Odometry parameters: -->
  <arg name="strategy"            default="0" />       <!-- Strategy: 0=Frame-to-Map 1=Frame-to-Frame -->
  <arg name="feature"             default="6" />       <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
  <arg name="estimation"          default="1" />       <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
  <arg name="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE 2=FLANN_LSH, 3=BRUTEFORCE -->
  <arg name="max_depth"           default="0" />       <!-- Maximum features depth (m) -->
  <arg name="min_inliers"         default="20" />      <!-- Minimum visual correspondences to accept a transformation (m) -->
  <arg name="inlier_distance"     default="0.1" />     <!-- RANSAC maximum inliers distance (m) -->
  <arg name="local_map"           default="1000" />    <!-- Local map size: number of unique features to keep track -->
  <arg name="variance_inliers"    default="true"/>    <!-- Variance from inverse of inliers count -->  
        
  <!-- Nodes -->
  <group ns="$(arg namespace)">
  
    <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic)" />
    <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic)" />
  
    <!-- Odometry -->
    <node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
      <remap from="left/image_rect"        to="$(arg left_image_topic)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
	  
      <param name="frame_id"                 type="string" value="$(arg frame_id)"/>
      <param name="wait_for_transform_duration"       type="double"   value="$(arg wait_for_transform)"/>
      <param name="approx_sync"              type="bool"   value="$(arg approximate_sync)"/>
	  
	  <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
	  <param name="Vis/FeatureType"          type="string" value="$(arg feature)"/>  
	  <param name="Vis/CorNNType"            type="string" value="$(arg nn)"/>
	  <param name="Vis/EstimationType"       type="string" value="$(arg estimation)"/> 
	  <param name="Vis/MaxDepth"             type="string" value="$(arg max_depth)"/>  
	  <param name="Vis/MinInliers"           type="string" value="$(arg min_inliers)"/> 
	  <param name="Vis/InlierDistance"       type="string" value="$(arg inlier_distance)"/>       
      <param name="OdomF2M/MaxSize"          type="string" value="$(arg local_map)"/> 
      <param name="Odom/FillInfoData"        type="string" value="true"/> 
      <param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>  
    </node>
  
    <!-- Visual SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
      <param name="subscribe_depth"     type="bool"   value="false"/>
      <param name="subscribe_stereo"    type="bool"   value="true"/>
      <param name="subscribe_laserScan"      type="bool"   value="$(arg subscribe_scan)"/>
      <param name="frame_id"            type="string" value="$(arg frame_id)"/>
      <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="stereo_approx_sync"  type="bool"   value="$(arg approximate_sync)"/>
	
      <remap from="left/image_rect"        to="$(arg left_image_topic)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
      
      <param name="Rtabmap/TimeThr"              type="string" value="$(arg time_threshold)"/>
      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="$(arg optimize_from_last_node)"/>
      <param name="Vis/MinInliers"               type="string" value="$(arg min_inliers)"/>
      <param name="Vis/InlierDistance"           type="string" value="$(arg inlier_distance)"/>
      <param name="Vis/EstimationType"           type="string" value="$(arg estimation)"/> 
      <param name="Reg/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
      <param name="Mem/SaveDepth16Format"        type="string" value="$(arg convert_depth_to_mm)"/>
      
      <!-- when 2D scan is set -->
      <param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D"          type="string" value="true"/>
      <param if="$(arg subscribe_scan)" name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
      <param if="$(arg subscribe_scan)" name="LccIcp/Type"                  type="string" value="2"/> 
	  <param if="$(arg subscribe_scan)" name="LccIcp2/CorrespondenceRatio"  type="string" value="0.25"/>
    </node>
  
    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
      <param name="subscribe_depth"           type="bool"   value="false"/>
      <param name="subscribe_stereo"          type="bool"   value="true"/>
      <param name="subscribe_laserScan"       type="bool"   value="$(arg subscribe_scan)"/>
      <param name="subscribe_odom_info"       type="bool"   value="$(arg visual_odometry)"/>
      <param name="frame_id"                  type="string" value="$(arg frame_id)"/>
      <param name="wait_for_transform_duration"   type="double"   value="$(arg wait_for_transform)"/>
    
      <remap from="left/image_rect"        to="$(arg left_image_topic)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
    </node>
  
  </group>
  
  <!-- Visualization RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="$(arg rviz_cfg)"/>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
    <remap from="left/image"        to="$(arg left_image_topic)"/>
    <remap from="right/image"       to="$(arg right_image_topic)"/>
    <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
    <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
    <remap from="cloud"             to="voxel_cloud" />

    <param name="decimation"  type="double" value="2"/>
    <param name="voxel_size"  type="double" value="0.02"/>
    <param name="approx_sync" type="bool"   value="$(arg approximate_sync)"/>
  </node>

</launch>