demo.launch

<launch>
  <arg name="serial_no"           default=""/>
  <arg name="json_file_path"      default=""/>
  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>

  <arg name="fisheye_width"       default="640"/>
  <arg name="fisheye_height"      default="480"/>
  <arg name="enable_fisheye"      default="true"/>

  <arg name="depth_width"         default="640"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>

  <arg name="infra1_width"        default="640"/>
  <arg name="infra1_height"       default="480"/>
  <arg name="enable_infra1"       default="true"/>

  <arg name="infra2_width"        default="640"/>
  <arg name="infra2_height"       default="480"/>
  <arg name="enable_infra2"       default="true"/>

  <arg name="color_width"         default="640"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>

  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra1_fps"          default="30"/>
  <arg name="infra2_fps"          default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="1000"/>
  <arg name="accel_fps"           default="1000"/>
  <arg name="enable_imu"          default="true"/>

  <arg name="enable_pointcloud"   default="false"/>
  <arg name="enable_sync"         default="true"/>
  <arg name="align_depth"         default="true"/>

  <arg name="filters"             default=""/>

  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>

      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>

      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>

      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>

      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>

      <arg name="infra1_width"             value="$(arg infra1_width)"/>
      <arg name="infra1_height"            value="$(arg infra1_height)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>

      <arg name="infra2_width"             value="$(arg infra2_width)"/>
      <arg name="infra2_height"            value="$(arg infra2_height)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>

      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra1_fps"               value="$(arg infra1_fps)"/>
      <arg name="infra2_fps"               value="$(arg infra2_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_imu"               value="$(arg enable_imu)"/>

      <arg name="filters"                  value="$(arg filters)"/>
    </include>
  </group>

  <!-- Backward compatibility launch file, use rtabmap.launch instead -->

  <!-- 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" />

  <!-- Localization-only mode -->
  <arg name="localization"            default="false"/>

  <!-- Corresponding config files -->
  <arg name="rtabmapviz_cfg"          default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg"                default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />

  <arg name="frame_id"                default="camera_link"/>   <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
  <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
  <arg name="launch_prefix"           default=""/>              <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
  <arg name="approx_sync"             default="true"/>         <!-- if timestamps of the input topics are not synchronized -->

  <arg name="rgb_topic"               default="/camera/color/image_raw" />
  <arg name="depth_registered_topic"  default="/camera/depth/image_rect_raw" />
  <arg name="camera_info_topic"       default="/camera/color/camera_info" />
  <arg name="compressed"              default="false"/>

  <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="subscribe_scan_cloud"    default="false"/>         <!-- Assuming 3D scan if set -->
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>

  <arg name="visual_odometry"         default="true"/>          <!-- Generate visual odometry -->
  <arg name="odom_topic"              default="/odom"/>         <!-- Odometry topic used if visual_odometry is false -->
  <arg name="odom_frame_id"           default=""/>              <!-- If set, TF is used to get odometry instead of the topic -->

  <arg name="namespace"               default="rtabmap"/>
  <arg name="wait_for_transform"      default="0.2"/>

  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
    <arg name="rtabmapviz"              value="$(arg rtabmapviz)" />
    <arg name="rviz"                    value="$(arg rviz)" />
    <arg name="localization"            value="$(arg localization)"/>
    <arg name="gui_cfg"                 value="$(arg rtabmapviz_cfg)" />
    <arg name="rviz_cfg"                value="$(arg rviz_cfg)" />

    <arg name="frame_id"                value="$(arg frame_id)"/>
    <arg name="namespace"               value="$(arg namespace)"/>
    <arg name="database_path"           value="$(arg database_path)"/>
    <arg name="wait_for_transform"      value="$(arg wait_for_transform)"/>
    <arg name="rtabmap_args"            value="$(arg rtabmap_args)"/>
    <arg name="launch_prefix"           value="$(arg launch_prefix)"/>
    <arg name="approx_sync"             value="$(arg approx_sync)"/>

    <arg name="rgb_topic"               value="$(arg rgb_topic)" />
    <arg name="depth_topic"             value="$(arg depth_registered_topic)" />
    <arg name="camera_info_topic"       value="$(arg camera_info_topic)" />
    <arg name="compressed"              value="$(arg compressed)"/>

    <arg name="subscribe_scan"          value="$(arg subscribe_scan)"/>
    <arg name="scan_topic"              value="$(arg scan_topic)"/>

    <arg name="subscribe_scan_cloud"    value="$(arg subscribe_scan_cloud)"/>
    <arg name="scan_cloud_topic"        value="$(arg scan_cloud_topic)"/>

    <arg name="visual_odometry"         value="$(arg visual_odometry)"/>
    <arg name="odom_topic"              value="$(arg odom_topic)"/>
    <arg name="odom_frame_id"           value="$(arg odom_frame_id)"/>
    <arg name="odom_args"               value="$(arg rtabmap_args)"/>


  </include>

</launch>