burger_d435_mapping_odom_tf.launch

<launch>

  <!-- Launch turtlebot in gazebo -->
  <include file="$(find turtlebot3_description)/launch/turtlebot3_burger_d435_gazebo_only.launch"/>

  <!-- Realseense D435 cloud to laser scan -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
      <remap from="image"       to="/camera/depth/image_raw"/>
      <remap from="camera_info" to="/camera/depth/camera_info"/>
      <remap from="scan"        to="/d435_scan"/>
      <param name="range_max" type="double" value="4"/>
    </node>

  <!-- SLAM -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start \ --Mem/ImagePreDecimation 2 \ --Mem/ImagePostDecimation 2">
          <param name="frame_id" type="string" value="base_footprint"/>

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

          <remap from="scan" to="/d435_scan"/>

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

          <param name="queue_size" type="int" value="20"/>
          <param name="odom_frame_id"        type="string" value="odom"/>


          <!-- RTAB-Map's parameters -->
          <param name="RGBD/ProximityBySpace"     type="string" value="false"/>
          <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/Force3DoF"             type="string" value="true"/>
          <param name="Reg/Strategy"              type="int" value="1"/>
          <param name="Vis/MinInliers"            type="string" value="12"/>
    </node>

    <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" output="screen">
      <param name="subscribe_depth"  type="bool" value="true"/>
      <param name="subscribe_rgb"        type="bool"   value="true"/>
      <param name="subscribe_rgbd"       type="bool"   value="true"/>
      <param name="subscribe_stereo"     type="bool"   value="false"/>
      <param name="subscribe_scan"       type="bool"   value="true"/>
      <param name="frame_id"             type="string" value="base_footprint"/>
      <param name="odom_frame_id"        type="string" value="odom"/>
      <param name="wait_for_transform_duration" type="double"   value="0.2"/>
      <param name="queue_size"           type="int"    value="10"/>
      <param name="approx_sync"          type="bool"   value="true"/>

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



      <remap from="scan" to="/d435_scan"/>
    </node>
  </group>
</launch>