map.launch

<launch>
  <group ns="rtabmap">
      <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <param name="subscribe_rgbd" type="bool"   value="true"/>
      <param name="frame_id"       type="string" value="base_link"/>
      <remap from="rgbd_image" to="rgbd_image"/>
    </node>

    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start" >
          <param name="frame_id" type="string" value="base_link"/>

          <param name="subscribe_depth" type="bool" value="true"/>
          <param name="subscribe_scan" type="bool" value="false"/>

          <remap from="odom" to="/odom"/>
          <remap from="scan" to="/scan_multi"/>

          <remap from="rgb/image" to="/camera/color/image_raw"/>
          <remap from="depth/image" to="/camera/aligned_depth_to_color/image_raw"/>
          <remap from="rgb/camera_info" to="/camera/color/camera_info"/>

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

          <!-- RTAB-Map's parameters -->
          <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
          <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
          <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
          <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
          <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
          <param name="Reg/Strategy"              type="string" value="1"/> <!-- 1=ICP -->
          <param name="Reg/Force3DoF"             type="string" value="true"/>
          <param name="Vis/MinInliers"            type="string" value="12"/>
          <param name="Grid/FromDepth"            type="string" value="true"/>
          <param name="RGBD/ProximityPathMaxNeighbors"            type="string" value="true"/>
          
    </node>
  </group>
</launch>