mapping.launch

<?xml version="1.0" encoding="UTF-8"?>

<launch>
  <!-- Arguments for launch file with defaults provided -->
  <arg name="database_path"     default="rtabmap.db"/>
  <arg name="rgb_topic"   default="/camera/rgb/image_raw"/>
 <!-- <arg name="depth_topic" default="/camera/depth/image_raw"/> -->
  <arg name="camera_info_topic" default="/camera/rgb/camera_info"/>  
  <arg name="depth_topic" default="/camera/depth/image_raw"/>
  <arg name="scan_topic" default="/scan"/>


  <!-- Mapping Node -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">

      <!-- Basic RTAB-Map Parameters -->
      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="frame_id"            type="string" value="robot_footprint"/>
      <param name="odom_frame_id"       type="string" value="odom"/>
      <param name="subscribe_depth"     type="bool"   value="true"/>
      <param name="subscribe_scan"      type="bool"   value="true"/>

      <!-- RTAB-Map Inputs -->
      <remap from="scan"            to="$(arg scan_topic)"/>
      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
        <remap from="depth/image"     to="$(arg depth_topic)"/>
        <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>

        <!-- RTAB-Map Output -->
        <remap from="grid_map" to="/map"/>
        <remap from="cloud_map" to="/cloud_map"/>
        <remap from="scan_map" to="/scan_map"/>

           <!-- Rate (Hz) at which new nodes are added to map -->
      <param name="Rtabmap/DetectionRate" type="string" value="1"/> 

      <!-- 2D SLAM -->
      <param name="Reg/Force3DoF" type="string" value="true"/>      

      <!-- Loop Closure Detection -->
 <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB                 9=KAZE → -->
<param name="Kp/DetectorStrategy" type="string" value="0"/> 

<!-- Maximum visual words per image (bag-of-words) -->
          <param name="Kp/MaxFeatures" type="string" value="400"/>  

      <!-- Used to extract more or less SURF features -->
               <param name="SURF/HessianThreshold" type="string" value="100"/>

  <!-- Loop Closure Constraint -->
<!-- 0=Visual, 1=ICP (1 requires scan)-->
      <param name="Reg/Strategy" type="string" value="0"/> 

<!-- Minimum visual inliers to accept loop closure -->
      <param name="Vis/MinInliers" type="string" value="15"/> 

      <!-- Set to false to avoid saving data when robot is not moving -->
      <param name="Mem/NotLinkedNodesKept" type="string" value="false"/>

    </node> 

  </group>

<!-- visualization with rtabmapviz
    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
        <param name="subscribe_depth"             type="bool" value="true"/>
      <param name="subscribe_scan"              type="bool" value="true"/>
      <param name="frame_id"                    type="string" value="robot_footprint"/>

      <remap from="rgb/image"       to="$(arg rgb_topic)"/>
      <remap from="depth/image"     to="$(arg depth_topic)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
      <remap from="scan"            to="/scan"/>
    </node>
 -->
</launch>