rtabmap_ros/launch/rgbd_mapping.launch

<launch>
   <!-- Your RGB-D sensor should be already started with "depth_registration:=true".
        Examples:
           $ roslaunch freenect_launch freenect.launch depth_registration:=true 
           $ roslaunch openni2_launch openni2.launch depth_registration:=true -->
 
   <!-- Choose visualization -->
  <arg name="rviz"                    default="false" />
  <arg name="rtabmapviz"              default="true" /> 
  
  <arg name="frame_id"                default="camera_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="rgb_topic"               default="/camera/rgb/image_rect_color" />
  <arg name="depth_registered_topic"  default="/camera/depth_registered/image_raw" />
  <arg name="camera_info_topic"       default="/camera/rgb/camera_info" />
   
  <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="namespace"               default="rtabmap"/>
  
  <!-- Odometry parameters: -->
  <arg name="strategy"            default="0" />       <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
  <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="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
  <arg name="max_depth"           default="4.0" />     <!-- Maximum features depth (m) -->
  <arg name="min_inliers"         default="20" />      <!-- Minimum visual correspondences to accept a transformation (m) -->
  <arg name="inlier_distance"     default="0.02" />    <!-- RANSAC maximum inliers distance (m) -->
  <arg name="local_map"           default="1000" />    <!-- Local map size: number of unique features to keep track -->
  <arg name="odom_info_data"      default="true" />    <!-- Fill odometry info messages with inliers/outliers data. -->
        
  <!-- Nodes -->
  <group ns="$(arg namespace)">
  
    <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_registered_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
	  
	  <param name="frame_id"                 type="string" value="$(arg frame_id)"/>
	  <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
	  <param name="Odom/FeatureType"         type="string" value="$(arg feature)"/>  
	  <param name="OdomBow/NNType"           type="string" value="$(arg nn)"/>
	  <param name="Odom/MaxDepth"            type="string" value="$(arg max_depth)"/>  
	  <param name="Odom/MinInliers"          type="string" value="$(arg min_inliers)"/> 
	  <param name="Odom/InlierDistance"      type="string" value="$(arg inlier_distance)"/>       
      <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/> 
      <param name="Odom/FillInfoData"        type="string" value="$(arg odom_info_data)"/>   
    </node>
  
    <!-- Visual SLAM (robot side) -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="subscribe_depth" type="bool"   value="true"/>
      <param name="subscribe_scan"  type="bool"   value="$(arg subscribe_scan)"/>
	  <param name="frame_id"        type="string" value="$(arg frame_id)"/>
	
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_registered_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="scan"            to="$(arg scan_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="LccBow/MinInliers"         type="string" value="10"/>
      <param name="LccBow/InlierDistance"     type="string" value="$(arg inlier_distance)"/>
      
      <!-- 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="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
      <param name="subscribe_depth"     type="bool"   value="true"/>
      <param name="subscribe_scan"      type="bool"   value="$(arg subscribe_scan)"/>
      <param name="subscribe_odom_info" type="bool"   value="$(arg odom_info_data)"/>
      <param name="frame_id"            type="string" value="$(arg frame_id)"/>
    
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_registered_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="scan"            to="$(arg scan_topic)"/>
    </node>
  
  </group>
  
  <!-- Visualization RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>
  <!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/data_odom_sync standalone_nodelet">
    <remap from="rgb/image_in"        to="$(arg rgb_topic)"/>
    <remap from="depth/image_in"      to="$(arg depth_registered_topic)"/>
    <remap from="rgb/camera_info_in"  to="$(arg camera_info_topic)"/>
    <remap from="odom_in"             to="rtabmap/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"/>
  </node>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/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="decimation" type="double" value="2"/>
    <param name="voxel_size" type="double" value="0.02"/>
  </node>

</launch>