rtab_slam_remote.launch

<launch>

  <group ns="robot">
    <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" />

    <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>

  </group>

</launch>