rtabmap_ros/launch/tests/test_rgbd_image.launch

<launch>  

  <!-- Kinect: -->
  <include file="$(find freenect_launch)/launch/freenect.launch">
    <arg name="depth_registration" value="true" />
  </include>

  <arg name="compressed" default="false"/>

  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera_nodelet_manager">
      <remap from="rgb/image"         to="rgb/image_rect_color"/>
      <remap from="depth/image"       to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info"   to="rgb/camera_info"/>
    </node>
  </group>

   <!-- Nodes -->
  <group ns="rtabmap">
  
      <!-- RGB-D Odometry -->
      <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
        <param name="subscribe_rgbd"       type="bool"   value="true"/>
        <remap from="rgbd_image"      to="/camera/rgbd_image"/>
        
	    <param name="Odom/AlignWithGround"  type="string" value="true"/>
        <param name="frame_id"         type="string" value="camera_link"/>
      </node>
    
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="subscribe_depth"       type="bool"   value="false"/>
      <param name="subscribe_rgbd"       type="bool"   value="true"/>
      <param name="frame_id"             type="string" value="camera_link"/>
      <param name="approx_sync"          type="string" value="false"/>
      <remap     if="$(arg compressed)"    from="rgbd_image"   to="/camera/rgbd_image/compressed"/>
      <remap unless="$(arg compressed)"    from="rgbd_image"   to="/camera/rgbd_image"/>
    </node>
  
    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
      <param name="subscribe_depth"      type="bool"   value="false"/>
      <param name="subscribe_rgbd"       type="bool"   value="true"/>
      <param name="frame_id"             type="string" value="camera_link"/>
      <param name="approx_sync"          type="string" value="false"/>
      <remap     if="$(arg compressed)"    from="rgbd_image"   to="/camera/rgbd_image/compressed"/>
      <remap unless="$(arg compressed)"    from="rgbd_image"   to="/camera/rgbd_image"/>
      <param name="subscribe_odom_info"  type="bool"   value="true"/>
    </node>
  
  </group>

</launch>