rtab_slam.launch

<launch>

  <include file="$(find nav_rtabmap)/base_start.launch" />

  <arg name="pi/2" value="1.5707963267948966" />
  <!-- camera pointing forward -->
  <node pkg="tf" type="static_transform_publisher" name="camera2base" args="0.03 0.04 0.185 -$(arg pi/2) 0 -$(arg pi/2) base_link camera_frame 10" />

  <group ns="rtabmap">
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
      <remap from="rgb/image"       to="/camera/left/image_rect"/>
      <remap from="depth/image"     to="/camera/depth"/>
      <remap from="rgb/camera_info" to="/camera/left/camera_info"/>
      <remap from="rgbd_image"      to="rgbd_image"/>  <!-- output -->
      
      <!-- all camera topics are exactly synchronized -->
      <param name="approx_sync"       value="false"/>
    </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="false"/>
          <param name="subscribe_rgb"   type="bool" value="false"/>
          <param name="subscribe_rgbd"  type="bool" value="true"/>
          <param name="approx_sync"     type="bool" value="true"/>
          <param name="queue_size"      type="int"  value="30"/>

          <remap from="odom" to="/odom"/>
          <remap from="rgbd_image" to="rgbd_image"/>

          <!-- RTAB-Map's parameters -->
          <param name="Rtabmap/DetectionRate"      type="string" value="0"/>  <!-- no filtering, processing done at the speed of incoming data -->
          <param name="Rtabmap/TimeThr"            type="string" value="0"/>  <!-- offline works much faster -->

          <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="Vis/MinInliers"             type="string" value="5"/>
          <param name="Vis/FeatureType"            type="string" value="0"/>  <!-- use SURF -->

          <param name="RGBD/OptimizeMaxError"      type="string" value="15.0"/>
	<param name="RGBD/NeighborLinkRefining"  type="string" value="false"/> 
	<param name="RGBD/ProximityBySpace"      type="string" value="true"/> <!-- Referred paper did only global loop closure detection -->
	<param name="RGBD/ProximityByTime"       type="string" value="false"/> 

          <param name="Reg/Strategy"               type="string" value="0"/>  <!-- no real laser scan, so no ICP -->

          <param name="Vis/MaxDepth"               type="string" value="4.0"/>
	<param name="Mem/RehearsalSimilarity"    type="string" value="0.45"/>
	<param name="Kp/TfIdfLikelihoodUsed"     type="string" value="false"/>
	<param name="Bayes/FullPredictionUpdate" type="string" value="true"/>
	<param name="Kp/DetectorStrategy"        type="string" value="0"/>   <!-- use SURF -->
	<param name="Kp/MaxFeatures"             type="string" value="400"/>
          <param name="SURF/Upright"               type="string" value="true"/>   <!-- we operate in plane, so no need to calculate rotation -->
          <param name="SURF/HessianThreshold"      type="string" value="300"/>   <!-- helps to get features in low contrast frames -->

	<param name="Optimizer/Strategy"         type="string" value="0"/>  <!-- TORO is the most stable for multi-session mapping -->
          <param name="Optimizer/Robust"           type="string" value="false"/>
	<param name="Optimizer/Iterations"       type="string" value="100"/> 
	<param name="Optimizer/Epsilon"          type="string" value="0.00001"/> 
	<param name="Kp/IncrementalFlann"        type="string" value="true"/>  <!-- Referred paper didn't use incremental FLANN -->

          <param name="Reg/Force3DoF"              type="string" value="true"/>
          <param name="Grid/3D"                    type="string" value="false"/>
          <param name="Grid/RayTracing"            type="string" value="true"/>
          <param name="Grid/RangeMax"              type="string" value="3.0"/>
          <param name="Grid/MaxGroundHeight"       type="string" value="0.05"/>
          <param name="Grid/MaxObstacleHeight"     type="string" value="0.3"/>
          <param name="Grid/FromDepth"             type="string" value="true" />

          <param name="Mem/SaveDepth16Format"      type="string" value="false" />

    </node>

  </group>
</launch>