with vizualization

with viz

<launch>
    <!-- Choose visualization -->
    <!--<arg name="rviz" default="false" />-->
    <arg name="rtabmapviz" default="true"/>
    <arg name="rgbd_kinect2" default="false"/>
    <include if="$(arg rgbd_kinect2)" file="$(find kinect2_bridge)/launch/kinect2_bridge.launch"/>

    <!-- 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="qhd"/>
    <arg name="frame_id" default="kinect2_ir_optical_frame"/>

    <!-- 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/$(arg resolution)/camera_info"/>
        <remap from="depth/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
        <param name="approx_sync" value="false"/> <!-- exact synchronization -->
    </node>

    <group ns="rtabmap">
        <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_image" 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="odom_frame_id" value="world"/>
            <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>
    </group>
</launch>