launch file

.launch

<launch>

   <!-- Choose visualization -->
   <arg name="rviz" default="false" />
   <arg name="rtabmapviz" default="true" /> 

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

<!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="sd" />
    <arg name="frame_id" default="kinect2_base"/>
   
   <!-- Synchronize kinect data before rtabmap node, generating single /rgbd_image topic -->
   <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync kinect2">
      <remap from="rgb/image"       to="/kinect2/$(arg resolution)/image_color_rect"/>
      <remap from="depth/image"     to="/kinect2/$(arg resolution)/image_depth_rect"/>
      <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
      <param name="approx_sync"     value="false"/> <!-- exact synchronization -->
   </node> 

   <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="--delete_db_on_start">

      <!-- Remap topics -->
      <param name="subscribe_depth"  type="bool"   value="false"/>
      <param name="subscribe_rgbd"   type="bool"   value="true"/>
      <param name="rgbd_cameras"     type="int"    value="1"/>
      <remap from="rgbd_image0"      to="/rgbd_image"/>

      <!-- Frames: fixed frame is /map, base frame of lidar and kinect is /kinect2_ir_optical_frame -->
      <param name="odom_frame_id"  value="map"/>
      <param name="frame_id"       value="$(arg frame_id)"/>
      <param name="publish_tf"     value="false"/>
   
      <!-- Disable loop closure detection -->
      <param name="Kp/MaxFeatures" type="string" value="-1"/>

       <!-- For laser assembler integration, use rate at which scans are assembled --> <!-- not sure if thie comment still valid -->
      <param name="Rtabmap/DetectionRate"          type="string" value="10"/>
   </node>

    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
      <param name="subscribe_depth" type="bool" value="true"/>
      <param name="subscribe_odom_info" type="bool" value="true"/>
      <param name="approx_sync" type="bool" value="true"/>
      <param name="frame_id" type="string" value="$(arg frame_id)"/>
    
      <remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
      <remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
      <remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
    </node>

</launch>