rtabmap_ros/launch/demo/demo_turtlebot_mapping.launch

<launch>
  <!-- 
       Bringup Turtlebot:
       $ roslaunch turtlebot_bringup minimal.launch
       
       Mapping:
       $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
       
       Visualization:
       $ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
       
       This launch file is a one to one replacement of the gmapping_demo.launch in the 
       "SLAM Map Building with TurtleBot" tutorial:
       http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
       
       For localization-only after a mapping session, add argument "localization:=true" to
       demo_turtlebot_mapping.launch line above. Move the robot around until it can relocalize in 
       the previous map, then the 2D map should re-appear again. You can then follow the same steps 
       from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial:
       http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
 
       For turtlebot in simulation (Gazebo):
         $ roslaunch turtlebot_gazebo turtlebot_world.launch
         $ roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true
         $ roslaunch rtabmap_ros demo_turtlebot_rviz.launch
  -->
  
  <arg name="database_path"     default="rtabmap.db"/>
  <arg name="rgbd_odometry"     default="false"/>
  <arg name="rtabmapviz"        default="false"/>
  <arg name="localization"      default="false"/>
  <arg name="simulation"        default="false"/>
  <arg     if="$(arg localization)" name="args"  default=""/>
  <arg unless="$(arg localization)" name="args"  default="--delete_db_on_start"/>

  <arg     if="$(arg simulation)" name="rgb_topic"   default="/camera/rgb/image_raw"/>
  <arg unless="$(arg simulation)" name="rgb_topic"   default="/camera/rgb/image_rect_color"/>
  <arg     if="$(arg simulation)" name="depth_topic" default="/camera/depth/image_raw"/>
  <arg unless="$(arg simulation)" name="depth_topic" default="/camera/depth_registered/image_raw"/>
  <arg name="camera_info_topic" default="/camera/rgb/camera_info"/>
  
  <arg name="wait_for_transform"  default="0.2"/> 
  <!-- 
      robot_state_publisher's publishing frequency in "turtlebot_bringup/launch/includes/robot.launch.xml" 
      can be increase from 5 to 10 Hz to avoid some TF warnings.
  -->
  
  <!-- Navigation stuff (move_base) -->
  <include unless="$(arg simulation)" file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
  <include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>
  
  <!-- Mapping -->
  <group ns="rtabmap">

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
	  <param name="database_path"       type="string" value="$(arg database_path)"/>
	  <param name="frame_id"            type="string" value="base_footprint"/>
	  <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
	  <param name="subscribe_depth"     type="bool"   value="true"/>
	  <param name="subscribe_scan"      type="bool"   value="true"/>
	  <param name="map_negative_poses_ignored" type="bool" value="true"/>
	
	  <!-- inputs -->
	  <remap from="scan"            to="/scan"/>
	  <remap from="rgb/image"       to="$(arg rgb_topic)"/>
  	  <remap from="depth/image"     to="$(arg depth_topic)"/>
  	  <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
	  <remap unless="$(arg rgbd_odometry)" from="odom" to="/odom"/>
  	  
  	  <!-- output -->
  	  <remap from="grid_map" to="/map"/>
	
	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
	  <param name="RGBD/ProximityBySpace"        type="string" value="true"/>   <!-- Local loop closure detection (using estimated position) with locations in WM -->
	  <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>  <!-- Set to false to generate map correction between /map and /odom -->
	  <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
	  <param name="Reg/Strategy"                 type="string" value="0"/>      <!-- Loop closure transformation: 0=Visual, 1=ICP, 2=Visual+ICP -->
	  <param name="Icp/CorrespondenceRatio"      type="string" value="0.3"/>
	  <param name="Vis/MinInliers"               type="string" value="15"/>      <!-- 3D visual words minimum inliers to accept loop closure -->
	  <param name="Vis/InlierDistance"           type="string" value="0.1"/>    <!-- 3D visual words correspondence distance -->
	  <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>    <!-- Update map only if the robot is moving -->
	  <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>    <!-- Update map only if the robot is moving -->
	  <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/> 
	  <param name="Rtabmap/TimeThr"              type="string" value="700"/>
	  <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
	  <param name="Optimizer/Slam2D"             type="string" value="true"/>
	  <param name="Reg/Force3DoF"                type="string" value="true"/>
	  <param name="GridGlobal/MinSize"           type="string" value="20"/>
	  
	  <!-- localization mode -->
	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
	  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
	  <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/> 
    </node>
   
    <!-- Odometry : ONLY for testing without the actual robot! /odom TF should not be already published. -->
    <node if="$(arg rgbd_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <param name="frame_id"                    type="string" value="base_footprint"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
      <param name="Reg/Force3DoF"               type="string" value="true"/>
      <param name="Vis/InlierDistance"          type="string" value="0.05"/>
      
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
    </node>
    
    <!-- visualization with rtabmapviz -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
  	  <param name="subscribe_depth"             type="bool" value="true"/>
      <param name="subscribe_scan"              type="bool" value="true"/>
      <param name="frame_id"                    type="string" value="base_footprint"/>
      <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
    
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="scan"            to="/scan"/>
    </node>
    
  </group>
</launch>