rtabmap_ros/launch/demo/demo_two_kinects.launch

<launch>
   
  <!-- Multi-cameras demo with 2 Kinects -->
   
  <!-- Cameras -->
  <include file="$(find freenect_launch)/launch/freenect.launch">
    <arg name="depth_registration" value="True" />
    <arg name="camera" value="camera1" />
    <arg name="device_id" value="#1" />
  </include>
  <include file="$(find freenect_launch)/launch/freenect.launch">
    <arg name="depth_registration" value="True" />
    <arg name="camera" value="camera2" />
    <arg name="device_id" value="#2" />
  </include>

  <!-- Frames: Kinects are placed at 90 degrees, clockwise -->
  <node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
      args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera1_link 100" />
  <node pkg="tf" type="static_transform_publisher" name="base_to_camera2_tf"
      args="-0.1325 -0.1975 0.0 -1.570796327 0.0 0.0 /base_link /camera2_link 100" />
   
   <!-- Choose visualization -->
   <arg name="rviz"       default="false" />
   <arg name="rtabmapviz" default="true" /> 
   
   <!-- ODOMETRY MAIN ARGUMENTS: 
        -"strategy"        : Strategy: 0=Frame-to-Map 1=Frame-to-Frame
        -"feature"         : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
        -"nn"              : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE 
                             Set to 1 for float descriptor like SIFT/SURF                  
                             Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK  
        -"max_depth"       : Maximum features depth (m)  
        -"min_inliers"     : Minimum visual correspondences to accept a transformation (m)  
        -"inlier_distance" : RANSAC maximum inliers distance (m)  
        -"local_map"       : Local map size: number of unique features to keep track 
        -"odom_info_data"  : Fill odometry info messages with inliers/outliers data.
    -->
   <arg name="strategy"        default="0" />
   <arg name="feature"         default="6" />
   <arg name="nn"              default="3" />
   <arg name="max_depth"       default="4.0" />
   <arg name="min_inliers"     default="20" />
   <arg name="inlier_distance" default="0.02" />
   <arg name="local_map"       default="1000" />
   <arg name="odom_info_data"  default="true" />
   <arg name="wait_for_transform"  default="true" />
   
   <!-- sync rgb/depth images per camera -->
   <group ns="camera1">
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera1_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>
   <group ns="camera2">
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera2_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>
        
  <group ns="rtabmap">
  
    <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <remap from="rgbd_image0"       to="/camera1/rgbd_image"/>
      <remap from="rgbd_image1"       to="/camera2/rgbd_image"/>
	  
	  <param name="subscribe_rgbd"           type="bool"   value="true"/>
	  <param name="frame_id"                 type="string" value="base_link"/>
	  <param name="rgbd_cameras"             type="int"    value="2"/>
	  <param name="wait_for_transform"       type="bool"   value="$(arg wait_for_transform)"/>
	  <param name="Odom/Strategy"            type="string" value="$(arg strategy)"/> 
	  <param name="OdomF2M/BundleAdjustment" type="string" value="0"/> <!-- should be 0 for multi-cameras -->
	  <param name="Vis/EstimationType"      type="string" value="0"/> <!-- should be 0 for multi-cameras -->
	  <param name="Vis/FeatureType"         type="string" value="$(arg feature)"/> 
	  <param name="Vis/CorGuessWinSize"     type="string" value="0"/> 
	  <param name="Vis/CorNNType"           type="string" value="$(arg nn)"/>
	  <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="$(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="false"/>
      <param name="subscribe_rgbd"   type="bool"   value="true"/>
      <param name="rgbd_cameras"    type="int"    value="2"/>
	  <param name="frame_id"         type="string" value="base_link"/>
	  <param name="gen_scan"         type="bool"   value="true"/>
	  <param name="wait_for_transform" type="bool"   value="$(arg wait_for_transform)"/>
	  <param name="map_negative_poses_ignored" type="bool"   value="false"/>        <!-- refresh grid map even if we are not moving-->
	  <param name="map_negative_scan_empty_ray_tracing" type="bool" value="false"/> <!-- don't fill empty space between the generated scans-->
	
      <remap from="rgbd_image0"       to="/camera1/rgbd_image"/>
      <remap from="rgbd_image1"       to="/camera2/rgbd_image"/>

      <param name="Grid/FromDepth"     type="string" value="false"/>
      <param name="Vis/EstimationType" type="string" value="0"/> <!-- should be 0 for multi-cameras -->
      <param name="Vis/MinInliers"     type="string" value="10"/>
      <param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
    </node>
  
    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
      <param name="subscribe_depth"  type="bool"   value="false"/>
      <param name="subscribe_rgbd"   type="bool"   value="true"/>
      <param name="subscribe_odom_info" type="bool"   value="$(arg odom_info_data)"/>
      <param name="frame_id"            type="string" value="base_link"/>
      <param name="rgbd_cameras"       type="int"    value="2"/>
      <param name="wait_for_transform"  type="bool"   value="$(arg wait_for_transform)"/>
    
      <remap from="rgbd_image0"       to="/camera1/rgbd_image"/>
      <remap from="rgbd_image1"       to="/camera2/rgbd_image"/>
    </node>
  
  </group>
  
  <!-- Visualization RVIZ -->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/rgbd.rviz"/>

</launch>