rtab_map.launch

.xml

<launch>
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start" >
      <param name="frame_id" type="string" value="base_footprint"/>
      <param name="odom_frame_id" type="string" value="wheel_odom"/>

      <param name="publish_tf" value="true" />

      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_scan" type="bool" value="true"/>
     
      <remap from="scan" to="/scan_lsl"/>

      <remap from="rgb/image" to="/kinect2/qhd/image_color"/>
      <remap from="depth/image" to="/kinect2/qhd/image_depth_rect"/>
      <remap from="rgb/camera_info" to="/kinect2/qhd/camera_info"/>

      <param name="queue_size" type="int" value="10"/>

      <!-- RTAB-Map's parameters -->
      <param name="RGBD/NeighborLinkRefining" type="bool" value="true"/>
      <param name="RGBD/ProximityBySpace" type="bool" value="true"/>
      <param name="Reg/Strategy" type="int" value="1"/>     
      <param name="RGBD/AngularUpdate" type="double" value="0.01"/>
      <param name="RGBD/LinearUpdate" type="double" value="0.01"/>
      <param name="Rtabmap/TimeThr" type="double" value="700"/>
      <param name="Mem/RehearsalSimilarity" type="double" value="0.45"/>
      <param name="RGBD/OptimizeFromGraphEnd" type="bool" value="true"/>
    </node>
  </group>
</launch>