rtabmap.launch

<launch>
  <include file="$(find depthai_ros_driver)/launch/camera.launch">

  </include>

  <arg name="rate"  default="5"/>
  <arg name="approx_sync" default="true" /> <!-- true for freenect driver -->
  <arg name="rgbd_sync" default="true"/>

  <group ns="camera">
    <node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_sync/rgbd_sync camera_nodelet_manager" output="screen">
      <param name="compressed_rate"  type="double" value="$(arg rate)"/>
      <param name="approx_sync"      type="bool"   value="$(arg approx_sync)"/>

      <remap from="rgb/image"       to="rgb/image_rect_color"/>
      <remap from="depth/image"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info" to="rgb/camera_info"/>

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

    <node unless="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_legacy/data_throttle camera_nodelet_manager" output="screen">
      <param name="rate"         type="double" value="$(arg rate)"/>
      <param name="approx_sync"  type="bool"   value="$(arg approx_sync)"/>

      <remap from="rgb/image_in"       to="rgb/image_rect_color"/>
      <remap from="depth/image_in"     to="depth_registered/image_raw"/>
      <remap from="rgb/camera_info_in" to="rgb/camera_info"/>

      <remap from="rgb/image_out"       to="throttled/rgb/image_rect_color"/>
      <remap from="depth/image_out"     to="throttled/depth_registered/image_raw"/>
      <remap from="rgb/camera_info_out" to="throttled/rgb/camera_info"/>
    </node>
  </group>      
</launch>