rtabmap_ros/launch/azimut3/az3_mapping_robot_nav.launch

<launch>

  <!-- args: "delete_db_on_start" and "udebug" --> 
  <arg name="rtabmap_args" default="" />

  <!-- AZIMUT 3 bringup: launch motors/odometry, laser scan and openni -->
  <include file="$(find az3_bringup)/az3_standalone.launch"/>

  <!-- OpenNI -->
  <include file="$(find rtabmap_ros)/launch/azimut3/az3_openni.launch"/>

  <!-- SLAM (robot side) -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
      <param name="frame_id" type="string" value="base_footprint"/>
      <param name="subscribe_laserScan" type="bool" value="true"/>
      <param name="use_action_for_goal" type="bool" value="true"/>
      <param name="cloud_decimation" type="int" value="1"/>                    <!-- we already decimate in memory below -->
      <param name="grid_eroded" type="bool" value="true"/>

      <remap from="odom" to="/base_controller/odom"/>
      <remap from="scan" to="/base_scan"/>
      <remap from="mapData" to="mapData"/>

      <remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
      <remap from="depth/image" to="/camera/depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>

      <remap from="goal_out" to="current_goal"/>	
      <remap from="move_base" to="/planner/move_base"/>
      <remap from="grid_map" to="/map"/>

      <!-- RTAB-Map's parameters -->
      <param name="RGBD/PoseScanMatching" type="string" value="true"/>           
      <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
  
      <param name="LccIcp/Type" type="string" value="2"/>                    
	 
      <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/LocalRadius" type="string" value="5"/>
	  
      <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
      <param name="Mem/RehearsedNodesKept" type="string" value="false"/>
      <param name="Mem/ImageDecimation" type="string" value="4"/>
      
      <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
      <param name="Rtabmap/TimeThr" type="string" value="600"/>
      <param name="Rtabmap/DetectionRate" type="string" value="1"/>

      <param name="Bayes/PredictionLC" type="string" value="0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.00035"/>

      <param name="RGBD/OptimizeSlam2d" type="string" value="true"/>
      <param name="RGBD/OptimizeIterations" type="string" value="100"/>
      <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
	 
      <param name="Kp/DetectorStrategy" type="string" value="0"/>
      <param name="Kp/WordsPerImage" type="string" value="200"/>
      <param name="Kp/NNStrategy" type="string" value="1"/>

      <param name="SURF/HessianThreshold" type="string" value="500"/>
	  
      <param name="LccBow/Force2D" type="string" value="true"/>
      <param name="LccBow/MaxDepth" type="string" value="5"/>
      <param name="LccBow/MinInliers" type="string" value="5"/>
      <param name="LccBow/InlierDistance" type="string" value="0.1"/>
    </node>
  </group>
  
  <!-- teleop -->
  <node name="joy" pkg="joy" type="joy_node"/>
  <group ns="teleop">
     <remap from="joy" to="/joy"/>
     <node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/>
     <param name="cmd_eta/abtr_priority" value="50"/>
  </group>

  <!-- ROS navigation stack move_base -->
  <group ns="planner">
     <remap from="base_scan" to="/base_scan"/>
     <remap from="openni_points" to="/local_costmap_cloud"/>
     <remap from="map" to="/map"/>
     <remap from="move_base_simple/goal" to="/planner_goal"/>
        
     <node pkg="move_base" type="move_base" respawn="true" name="move_base" output="screen">
        <param name="base_global_planner" value="navfn/NavfnROS"/>
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
     	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/local_costmap_params_laser.yaml" command="load" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/global_costmap_params.yaml" command="load" />
    	<rosparam file="$(find rtabmap_ros)/launch/azimut3/config/base_local_planner_params.yaml" command="load" />
     </node>
   		
     <param name="cmd_vel/abtr_priority" value="10"/>
  </group>

  <node name="az3_abtr" pkg="azimut_tools" type="azimut_abtr_priority_node">
     <remap from="abtr_cmd_eta" to="/base_controller/cmd_eta"/>
  </node>

  <!-- Arbitration between teleop and planner -->
  <node name="register_cmd_eta" pkg="abtr_priority" type="register"
        args="/cmd_eta /teleop/cmd_eta"/>
  <node name="register_cmd_vel" pkg="abtr_priority" type="register"
        args="/cmd_vel /planner/cmd_vel"/>
  
  <!-- Throttling messages -->
  <group ns="camera">
    <node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
      <param name="rate" type="double" value="5"/>
      <param name="decimation" type="int" value="4"/>
   
      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="depth_registered/camera_info"/>
    
      <remap from="rgb/image_out"       to="data_resized_image"/>
      <remap from="depth/image_out"     to="data_resized_image_depth"/>
      <remap from="rgb/camera_info_out" to="data_resized_camera_info"/>
    </node>

    <!-- for the planner -->
    <node pkg="nodelet" type="nodelet" name="points_xyz_planner" args="load rtabmap_ros/point_cloud_xyz camera_nodelet_manager">
      <remap from="depth/image"            to="data_resized_image_depth"/>
      <remap from="depth/camera_info"      to="data_resized_camera_info"/>
      <remap from="cloud"                  to="/local_costmap_cloud" />
      <param name="decimation" type="int" value="1"/>                     <!-- already decimated above -->
      <param name="max_depth" type="double" value="6.0"/>
      <param name="noise_filter_radius" type="double" value="0.05"/>
      <param name="noise_filter_min_neighbors" type="int" value="10"/>
    </node>  
  </group>
</launch>