feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.5)
+project(rtabmap_examples)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY launch config
+   DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
@@ -0,0 +1,30 @@
+#%YAML:1.0
+---
+camera_name: MH_01_easy_left
+image_width: 752
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0.,
+       4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -2.8340810999999999e-01, 7.3959070000000002e-02,
+       1.9358999999999999e-04, 1.7618711400000001e-05 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 9.9996634750298619e-01, -1.4227432298321767e-03,
+       8.0795831104762770e-03, 1.3657459036274155e-03,
+       9.9997417608074302e-01, 7.0556296505566432e-03,
+       -8.0894128132919258e-03, -7.0443575534647465e-03,
+       9.9994246755850658e-01 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0.,
+       4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1.,
+       0. ]
@@ -0,0 +1,30 @@
+#%YAML:1.0
+---
+camera_name: MH_01_easy_right
+image_width: 752
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0.,
+       4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 4
+   data: [ -2.8368365000000001e-01, 7.4512839999999997e-02,
+       -1.0473000000000000e-04, -3.5559070000000001e-05 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 9.9996335257946345e-01, -3.6258159819210472e-03,
+       7.7554468926514068e-03, 3.6804026836554193e-03,
+       9.9996847525904631e-01, -7.0358456623254633e-03,
+       -7.7296917225483383e-03, 7.0641309842873097e-03,
+       9.9994517345668066e-01 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02,
+       -4.7906395664848930e+01, 0., 4.3520469597145990e+02,
+       2.5220085144042969e+02, 0., 0., 0., 1., 0. ]
@@ -0,0 +1,434 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+      Splitter Ratio: 0.5340050458908081
+    Tree Height: 413
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: MapCloud
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2 Vorne
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera1/depth/color/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2 Oben
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera2/depth/color/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_link:
+          Value: true
+        camera1_color_frame:
+          Value: true
+        camera1_color_optical_frame:
+          Value: true
+        camera1_depth_frame:
+          Value: true
+        camera1_depth_optical_frame:
+          Value: true
+        camera1_link:
+          Value: true
+        camera2_color_frame:
+          Value: true
+        camera2_color_optical_frame:
+          Value: true
+        camera2_depth_frame:
+          Value: true
+        camera2_depth_optical_frame:
+          Value: true
+        camera2_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_link:
+              camera1_link:
+                camera1_color_frame:
+                  camera1_color_optical_frame:
+                    {}
+                camera1_depth_frame:
+                  camera1_depth_optical_frame:
+                    {}
+              camera2_link:
+                camera2_color_frame:
+                  camera2_color_optical_frame:
+                    {}
+                camera2_depth_frame:
+                  camera2_depth_optical_frame:
+                    {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rtabmap_rviz_plugins/MapCloud
+      Cloud decimation: 4
+      Cloud from scan: false
+      Cloud max depth (m): 4
+      Cloud min depth (m): 0
+      Cloud voxel size (m): 0.009999999776482582
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Download graph: false
+      Download map: false
+      Download namespace: rtabmap
+      Enabled: true
+      Filter ceiling (m): 0
+      Filter floor (m): 0
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: MapCloud
+      Node filtering angle (degrees): 30
+      Node filtering radius (m): 0
+      Position Transformer: XYZ
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rtabmap/mapData
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Camera1 Cloud
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /voxel_cloud1
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Camera2 Cloud
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /voxel_cloud2
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera1/color/image_rect_raw
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera2/color/image_rect_raw
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rtabmap/odom_local_map
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.691277027130127
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.1845460832118988
+        Y: 1.409915566444397
+        Z: 0.6871283054351807
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.13479618728160858
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.8135828971862793
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1136
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000018f000003d2fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000228000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000026b000000d10000002800fffffffb0000000a0049006d0061006700650100000342000000cd0000002800ffffff000000010000010f000003d2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003d2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000048c000003d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1846
+  X: 1994
+  Y: 27
@@ -0,0 +1,538 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5340050458908081
+    Tree Height: 308
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2 Vorne
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2 Vorne
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/depth/color/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2 Oben
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera1/depth/color/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2 Unten
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera2/depth/color/points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_link:
+          Value: true
+        camera1_color_frame:
+          Value: true
+        camera1_color_optical_frame:
+          Value: true
+        camera1_depth_frame:
+          Value: true
+        camera1_depth_optical_frame:
+          Value: true
+        camera1_link:
+          Value: true
+        camera2_color_frame:
+          Value: true
+        camera2_color_optical_frame:
+          Value: true
+        camera2_depth_frame:
+          Value: true
+        camera2_depth_optical_frame:
+          Value: true
+        camera2_link:
+          Value: true
+        camera_color_frame:
+          Value: true
+        camera_color_optical_frame:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          {}
+        odom:
+          base_link:
+            camera1_link:
+              camera1_color_frame:
+                camera1_color_optical_frame:
+                  {}
+              camera1_depth_frame:
+                camera1_depth_optical_frame:
+                  {}
+            camera2_link:
+              camera2_color_frame:
+                camera2_color_optical_frame:
+                  {}
+              camera2_depth_frame:
+                camera2_depth_optical_frame:
+                  {}
+            camera_link:
+              camera_color_frame:
+                camera_color_optical_frame:
+                  {}
+              camera_depth_frame:
+                camera_depth_optical_frame:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rtabmap_rviz_plugins/MapCloud
+      Cloud decimation: 4
+      Cloud from scan: false
+      Cloud max depth (m): 4
+      Cloud min depth (m): 0
+      Cloud voxel size (m): 0.009999999776482582
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Download graph: false
+      Download map: false
+      Download namespace: rtabmap
+      Enabled: true
+      Filter ceiling (m): 0
+      Filter floor (m): 0
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: MapCloud
+      Node filtering angle (degrees): 30
+      Node filtering radius (m): 0
+      Position Transformer: XYZ
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rtabmap/mapData
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Vorne Cloud
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /voxel_cloud1
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Oben Cloud
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /voxel_cloud2
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Unten Cloud
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /voxel_cloud3
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Img Vorne
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera/color/image_rect_raw
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Img Oben
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera1/color/image_rect_raw
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Img Unten
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera2/color/image_rect_raw
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Odom Local Map Vorne
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rtabmap/odom_local_map
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 14.454187393188477
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.5812196135520935
+        Y: 1.577770709991455
+        Z: 0.7642305493354797
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.21979624032974243
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.493584394454956
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1163
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Img Oben:
+    collapsed: false
+  Img Unten:
+    collapsed: false
+  Img Vorne:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000018f000003edfc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001bf000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120049006d006700200056006f00720065006e010000022e000000800000000000000000fb000000120049006d006700200056006f0072006e00650100000202000000930000002800fffffffb000000100049006d00670020004f00620065006e010000029b000000bb0000002800fffffffb000000120049006d006700200055006e00740065006e010000035c000000ce0000002800ffffff000000010000010f000003edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d6000003ed00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0
@@ -0,0 +1,72 @@
+# Requirements:
+#   A OAK-D camera
+#   Install depthai-ros package (https://github.com/luxonis/depthai-ros)
+# Example:
+#   $ ros2 launch rtabmap_examples depthai.launch.py camera_model:=OAK-D
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    parameters=[{'frame_id':'oak-d-base-frame',
+                 'subscribe_rgbd':True,
+                 'subscribe_odom_info':True,
+                 'approx_sync':False,
+                 'wait_imu_to_init':True}]
+
+    remappings=[('imu', '/imu/data')]
+
+    return LaunchDescription([
+
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('depthai_examples'), 'launch'),
+                '/stereo_inertial_node.launch.py']),
+                launch_arguments={'depth_aligned': 'false',
+                                  'enableRviz': 'false',
+                                  'monoResolution': '400p'}.items(),
+        ),
+
+        # Sync right/depth/camera_info together
+        Node(   
+            package='rtabmap_sync', executable='rgbd_sync', output='screen',
+            parameters=parameters,
+            remappings=[('rgb/image', '/right/image_rect'),
+                        ('rgb/camera_info', '/right/camera_info'),
+                        ('depth/image', '/stereo/depth')]),
+
+        # Compute quaternion of the IMU
+        Node(
+            package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
+            parameters=[{'use_mag': False, 
+                         'world_frame':'enu', 
+                         'publish_tf':False}],
+            remappings=[('imu/data_raw', '/imu')]),
+
+        # Visual odometry
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        # VSLAM
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        # Visualization
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings)
+    ])
@@ -0,0 +1,146 @@
+
+# Example to run euroc datasets:
+#   $ sudo pip install rosbags     # See https://docs.openvins.com/dev-ros1-to-ros2.html
+#   $ rosbags-convert V1_01_easy.bag
+#   $ rosbags-convert MH_01_easy.bag
+#
+#   $ ros2 launch rtabmap_examples euroc_datasets.launch.py gt:=true
+#   $ cd V1_01_easy
+#   $ ros2 bag play V1_01_easy.db3 --clock
+#
+#   $ ros2 launch rtabmap_examples euroc_datasets.launch.py gt:=false
+#   $ cd MH_01_easy
+#   $ ros2 bag play MH_01_easy.db3 --clock
+
+
+from launch import LaunchDescription
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import SetEnvironmentVariable
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition, UnlessCondition
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch_ros.actions import PushRosNamespace
+from launch_ros.actions import SetParameter
+
+def generate_launch_description():
+
+    ground_truth = LaunchConfiguration('gt')
+
+    parameters={
+          'frame_id':'base_link',
+          'subscribe_stereo':True,
+          'subscribe_odom_info':True,
+          'wait_imu_to_init':True,
+          'approx_sync':False,
+          # RTAB-Map's parameters should all be string type:
+          'RGBD/CreateOccupancyGrid':'false',
+          'Rtabmap/CreateIntermediateNodes':'true',
+          'RGBD/LinearUpdate':'0',
+          'RGBD/AngularUpdate':'0'}
+          
+    remappings=[
+          ('left/image_rect', '/stereo_camera/left/image_rect'),
+          ('left/camera_info', '/stereo_camera/left/camera_info'),
+          ('right/image_rect', '/stereo_camera/right/image_rect'),
+          ('right/camera_info', '/stereo_camera/right/camera_info'),
+          ('imu', '/imu/data')]
+          
+
+    return LaunchDescription([
+
+        DeclareLaunchArgument(
+            'gt', default_value='false',
+            description='If the VH rosbag sequence is used, you can enable ground truth.'),
+
+        SetParameter(name='use_sim_time', value=True),
+        # 'use_sim_time' will be set on all nodes following the line above
+
+        # Nodes to launch
+        Node(
+            package='rtabmap_odom', executable='stereo_odometry', output='screen',
+            parameters=[parameters],
+            remappings=remappings),
+
+        Node(
+            condition=IfCondition(ground_truth),
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=[parameters,
+                { 'ground_truth_frame_id':'world',
+                  'ground_truth_base_frame_id':'base_link_gt'}],
+            remappings=remappings,
+            arguments=['-d']),
+        Node(
+            condition=UnlessCondition(ground_truth),
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=[parameters],
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=[parameters],
+            remappings=remappings),
+        
+        # Image rectification and publishing synchronized camera_info
+        Node(
+            package='rtabmap_util', executable='yaml_to_camera_info.py', output='screen',
+            parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/config/euroc_left.yaml']}],
+            remappings=[
+              ('image', '/cam0/image_raw'),
+              ('camera_info', 'left/camera_info')],
+            namespace='stereo_camera'),
+              
+        Node(
+            package='rtabmap_util', executable='yaml_to_camera_info.py', output='screen',
+            parameters=[{'yaml_path': [FindPackageShare('rtabmap_examples'), '/config/euroc_right.yaml']}],
+            remappings=[
+              ('image', '/cam1/image_raw'),
+              ('camera_info', 'right/camera_info')],
+            namespace='stereo_camera'),
+            
+        Node(
+            package='image_proc', executable='image_proc', output='screen',
+            remappings=[
+              ('image_raw', '/cam0/image_raw'),
+              ('image', '/cam0/image_raw')],
+            namespace='stereo_camera/left'),
+        Node(
+            package='image_proc', executable='image_proc', output='screen',
+            remappings=[
+              ('image_raw', '/cam1/image_raw'),
+              ('image', '/cam1/image_raw')],
+            namespace='stereo_camera/right'),
+
+        Node(
+            package='imu_complementary_filter', executable='complementary_filter_node', output='screen',
+            parameters=[{'use_mag': False, 'world_frame':'enu', 'publish_tf':False}],
+            remappings=[('imu/data_raw', '/imu0')]),
+       
+        # create a fake tf tree
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=['0', '0', '0', '3.1415926', '-1.570796', '0', 'base_link', 'imu4']),
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=['-0.021640', '-0.064677', '0.009811', '1.555925', '0.025777', '0.003757', 'imu4', 'cam0']),
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=['-0.019844', '0.045369', '0.007862', '1.558237', '0.025393', '0.017907', 'imu4', 'cam1']),
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=['0.12395', '-0.02781', '-0.06901', '0', '0', '0', 'vicon/firefly_sbx/firefly_sbx', 'base_link_gt']),
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=['0', '0', '0', '0', '0', '0', 'world', 'map']),
+        
+        Node(
+            package='rtabmap_util', executable='transform_to_tf.py', output='screen',
+            parameters=[{'frame_id': 'world', 'child_frame_id': 'vicon/firefly_sbx/firefly_sbx'}],
+            remappings=[('transform', '/vicon/firefly_sbx/firefly_sbx')]),    
+    ])
+
+
@@ -0,0 +1,71 @@
+# Requirements:
+#   A Kinect for Azure
+#   Install Azure_Kinect_ROS_Driver ros2 package (https://github.com/microsoft/Azure_Kinect_ROS_Driver/tree/humble)
+#   To install Kinect SDK on Ubuntu 22.04, see https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1790#issuecomment-1531626651
+#   udev rules: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/5f79890933e1c81e325633152b2f2799df825b8b/docs/usage.md#linux-device-setup
+#   Install imu_filter_madgwick ros2 package
+# Example:
+#   $ ros2 launch rtabmap_examples k4a.launch.py
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_base',
+          'subscribe_rgbd':True,
+          'subscribe_odom_info':True}]
+
+    remappings=[
+          ('imu', '/imu/data'),
+          ('rgb/image', '/rgb/image_raw'),
+          ('rgb/camera_info', '/rgb/camera_info'),
+          ('depth/image', '/depth_to_rgb/image_raw'),
+          ('rgbd_image', 'odom_rgbd_image')]
+
+    return LaunchDescription([
+
+        # Nodes to launch 
+        
+        # Visual odometry node      
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=[{ 'frame_id':'camera_base',
+                          'approx_sync':True,
+                          'approx_sync_max_interval':0.01,
+                          'wait_imu_to_init':True,
+                          'queue_size':30,
+                          'keep_color':True,
+                          # Color image needs to be rectified, 
+                          # this will tell vo to rectify them for convenience:
+                          'Rtabmap/ImagesAlreadyRectified':'False'}],
+            remappings=remappings),
+
+        # SLAM node
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        # Visualization node
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+            
+        # Kinect for azure
+        Node(
+            package='azure_kinect_ros_driver', executable='node', output='screen',
+            parameters=[{'color_enabled': True, 
+                         'fps':15, 
+                         'depth_mode':'WFOV_2X2BINNED'}]),
+        
+        # Compute quaternion of the IMU
+        Node(
+            package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
+            parameters=[{'use_mag': False, 
+                         'world_frame':'enu', 
+                         'publish_tf':False}],
+            remappings=[('imu/data_raw', '/imu')]),
+    ])
@@ -0,0 +1,53 @@
+# Requirements:
+#   A kinect for xbox 360
+#   Install kinect_ros2 package (use this fork: https://github.com/matlabbe/kinect_ros2)
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':True}]
+
+    remappings=[
+          ('rgb/image', '/kinect/rgb/image_raw'),
+          ('rgb/camera_info', '/kinect/rgb/camera_info'),
+          ('depth/image', '/kinect/depth_registered/image_raw')]
+
+    return LaunchDescription([
+
+        # Nodes to launch
+        Node(
+            package='kinect_ros2', executable='kinect_ros2_node', output='screen',
+            parameters=[{'depth_registration':True}],
+            namespace="kinect"),
+
+        # Optical rotation
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=["0", "0", "0", "-1.57", "0", "-1.57", "camera_link", "kinect_rgb"]),
+
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            namespace="rtabmap"),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d'],
+            namespace="rtabmap"),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            namespace="rtabmap"),
+    ])
@@ -0,0 +1,253 @@
+# Description:
+#   In this example, we keep only minimal data to do LiDAR SLAM.
+#
+# Example:
+#   Launch your lidar sensor:
+#   $ ros2 launch velodyne_driver velodyne_driver_node-VLP16-launch.py
+#   $ ros2 launch velodyne_pointcloud velodyne_transform_node-VLP16-launch.py
+#
+#   If an IMU is used, make sure TF between lidar/base frame and imu is
+#     already calibrated. In this example, we assume the imu topic has 
+#     already the orientation estimated, if not, you can use 
+#     imu_filter_madgwick_node (with use_mag:=false publish_tf:=false)
+#     and set imu_topic to output topic of the filter.
+#
+#   If a camera is used, make sure TF between lidar/base frame and camera is
+#     already calibrated. To provide image data to this example, you should use
+#     rtabmap_sync's rgbd_sync or stereo_sync node.
+#
+#   Launch the example by adjusting the lidar topic and base frame:
+#   $ ros2 launch rtabmap_examples lidar3d.launch.py lidar_topic:=/velodyne_points frame_id:=velodyne
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+  
+  frame_id = LaunchConfiguration('frame_id')
+  
+  imu_topic = LaunchConfiguration('imu_topic')
+  imu_used =  imu_topic.perform(context) != ''
+  
+  rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
+  rgbd_images_topic = LaunchConfiguration('rgbd_images_topic')
+  rgbd_image_used =  rgbd_image_topic.perform(context) != '' or rgbd_images_topic.perform(context) != ''
+  rgbd_cameras = 0 if rgbd_images_topic.perform(context) != '' else 1
+  
+  voxel_size = LaunchConfiguration('voxel_size')
+  voxel_size_value = float(voxel_size.perform(context))
+  
+  use_sim_time = LaunchConfiguration('use_sim_time')
+  
+  lidar_topic = LaunchConfiguration('lidar_topic')
+  lidar_topic_value = lidar_topic.perform(context)
+  lidar_topic_deskewed = lidar_topic_value + "/deskewed"
+  
+  localization = LaunchConfiguration('localization').perform(context)
+  localization = localization == 'true' or localization == 'True'
+  
+  deskewing = LaunchConfiguration('deskewing').perform(context)
+  deskewing = deskewing == 'true' or deskewing == 'True'
+  
+  deskewing_slerp = LaunchConfiguration('deskewing_slerp').perform(context)
+  deskewing_slerp = deskewing_slerp == 'true' or deskewing_slerp == 'True'
+  
+  fixed_frame_from_imu = False
+  fixed_frame_id =  LaunchConfiguration('fixed_frame_id').perform(context)
+  if not fixed_frame_id and imu_used:
+    fixed_frame_from_imu = True
+    fixed_frame_id = frame_id.perform(context) + "_stabilized"
+  
+  if not fixed_frame_id or not deskewing:
+    lidar_topic_deskewed = lidar_topic
+  
+  # Rule of thumb:
+  max_correspondence_distance = voxel_size_value * 10.0
+
+  shared_parameters = {
+    'use_sim_time': use_sim_time,
+    'frame_id': frame_id,
+    'qos': LaunchConfiguration('qos'),
+    'approx_sync': rgbd_image_used,
+    'wait_for_transform': 0.2,
+    # RTAB-Map's internal parameters are strings:
+    'Icp/PointToPlane': 'true',
+    'Icp/Iterations': '10',
+    'Icp/VoxelSize': str(voxel_size_value),
+    'Icp/Epsilon': '0.001',
+    'Icp/PointToPlaneK': '20',
+    'Icp/PointToPlaneRadius': '0',
+    'Icp/MaxTranslation': '3',
+    'Icp/MaxCorrespondenceDistance': str(max_correspondence_distance),
+    'Icp/Strategy': '1',
+    'Icp/OutlierRatio': '0.7',
+  }
+  
+  icp_odometry_parameters = {
+    'expected_update_rate': LaunchConfiguration('expected_update_rate'),
+    'deskewing': not fixed_frame_id and deskewing, # If fixed_frame_id is set, we do deskewing externally below
+    'odom_frame_id': 'icp_odom',
+    'guess_frame_id': fixed_frame_id,
+    'deskewing_slerp': deskewing_slerp,
+    # RTAB-Map's internal parameters are strings:
+    'Odom/ScanKeyFrameThr': '0.4',
+    'OdomF2M/ScanSubtractRadius': str(voxel_size_value),
+    'OdomF2M/ScanMaxSize': '15000',
+    'OdomF2M/BundleAdjustment': 'false',
+    'Icp/CorrespondenceRatio': '0.01'
+  }
+  if imu_used:
+    icp_odometry_parameters['wait_imu_to_init'] = True
+
+  rtabmap_parameters = {
+    'subscribe_depth': False,
+    'subscribe_rgb': False,
+    'subscribe_odom_info': True,
+    'subscribe_scan_cloud': True,
+    'map_frame_id': 'new_map',
+    'odom_sensor_sync': True, # This will adjust camera position based on difference between lidar and camera stamps.
+    # RTAB-Map's internal parameters are strings:
+    'RGBD/ProximityMaxGraphDepth': '0',
+    'RGBD/ProximityPathMaxNeighbors': '1',
+    'RGBD/AngularUpdate': '0.05',
+    'RGBD/LinearUpdate': '0.05',
+    'RGBD/CreateOccupancyGrid': 'false',
+    'Mem/NotLinkedNodesKept': 'false',
+    'Mem/STMSize': '30',
+    'Reg/Strategy': '1',
+    'Icp/CorrespondenceRatio': str(LaunchConfiguration('min_loop_closure_overlap').perform(context))
+  }
+  
+  arguments = []
+  if localization:
+    rtabmap_parameters['Mem/IncrementalMemory'] = 'False'
+    rtabmap_parameters['Mem/InitWMWithAllNodes'] = 'True'
+  else:
+    arguments.append('-d') # This will delete the previous database (~/.ros/rtabmap.db)
+  
+  remappings = [('odom', 'icp_odom')]
+  if imu_used:
+    remappings.append(('imu', LaunchConfiguration('imu_topic')))
+  else:
+    remappings.append(('imu', 'imu_not_used'))
+  if rgbd_image_used:
+    if rgbd_cameras == 1:
+      remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
+    else:
+      remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic')))
+  
+  nodes = [
+    Node(
+      package='rtabmap_odom', executable='icp_odometry', output='screen',
+      parameters=[shared_parameters, icp_odometry_parameters],
+      remappings=remappings + [('scan_cloud', lidar_topic_deskewed)]),
+    
+    Node(
+      package='rtabmap_slam', executable='rtabmap', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters, 
+                  {'subscribe_rgbd': rgbd_image_used, 
+                   'rgbd_cameras': rgbd_cameras}],
+      remappings=remappings + [('scan_cloud', lidar_topic_deskewed)],
+      arguments=arguments), 
+  
+    Node(
+      package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters],
+      remappings=remappings + [('scan_cloud', 'odom_filtered_input_scan')])
+  ]
+  
+  if fixed_frame_from_imu:
+    # Create a stabilized base frame based on imu for lidar deskewing
+    nodes.append(
+      Node(
+        package='rtabmap_util', executable='imu_to_tf', output='screen',
+        parameters=[{
+          'use_sim_time': use_sim_time,
+          'fixed_frame_id': fixed_frame_id,
+          'base_frame_id': frame_id,
+          'wait_for_transform_duration': 0.001}],
+        remappings=[('imu/data', imu_topic)]))
+
+  if fixed_frame_id and deskewing:
+    # Lidar deskewing
+    nodes.append(
+      Node(
+        package='rtabmap_util', executable='lidar_deskewing', output='screen',
+        parameters=[{
+          'use_sim_time': use_sim_time,
+          'fixed_frame_id': fixed_frame_id,
+          'wait_for_transform': 0.2,
+          'slerp': deskewing_slerp}],
+        remappings=[
+            ('input_cloud', lidar_topic)
+        ])
+    )
+      
+  return nodes
+  
+def generate_launch_description():
+  return LaunchDescription([
+
+    # Launch arguments
+    DeclareLaunchArgument(
+      'use_sim_time', default_value='false',
+      description='Use simulated clock.'),
+    
+    DeclareLaunchArgument(
+      'deskewing', default_value='true',
+      description='Enable lidar deskewing.'),
+    
+    DeclareLaunchArgument(
+      'frame_id', default_value='velodyne',
+      description='Base frame of the robot.'),
+    
+    DeclareLaunchArgument(
+      'fixed_frame_id', default_value='',
+      description='Fixed frame used for lidar deskewing. If not set, we will generate one from IMU.'),
+    
+    DeclareLaunchArgument(
+      'localization', default_value='false',
+      description='Localization mode.'),
+
+    DeclareLaunchArgument(
+      'lidar_topic', default_value='/velodyne_points',
+      description='Name of the lidar PointCloud2 topic.'),
+
+    DeclareLaunchArgument(
+      'imu_topic', default_value='',
+      description='IMU topic (ignored if empty).'),
+    
+    DeclareLaunchArgument(
+      'rgbd_image_topic', default_value='',
+      description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
+    
+    DeclareLaunchArgument(
+      'rgbd_images_topic', default_value='',
+      description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'),
+    
+    DeclareLaunchArgument(
+      'expected_update_rate', default_value='15.0',
+      description='Expected lidar frame rate. Ideally, set it slightly higher than actual frame rate, like 15 Hz for 10 Hz lidar scans.'),
+    
+    DeclareLaunchArgument(
+      'voxel_size', default_value='0.1',
+      description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
+    
+    DeclareLaunchArgument(
+      'min_loop_closure_overlap', default_value='0.2',
+      description='Minimum scan overlap pourcentage to accept a loop closure.'),
+    
+    DeclareLaunchArgument(
+      'deskewing_slerp', default_value='true',
+      description='Use fast slerp interpolation between first and last stamps of the scan for deskewing. It would less accruate than requesting TF for every points, but a lot faster. Enable this if the delay of the deskewed scan is significant larger than the original scan.'),
+
+    DeclareLaunchArgument(
+      'qos', default_value='1',
+      description='Quality of Service: 0=system default, 1=reliable, 2=best effort.'),
+
+    OpaqueFunction(function=launch_setup),
+  ])
+
+    
@@ -0,0 +1,273 @@
+# Description:
+#   In this example, we will record ALL lidar scans. An IMU or low latency odometry is required for this example.
+# 
+# Example:
+#   Launch your lidar sensor:
+#   $ ros2 launch velodyne_driver velodyne_driver_node-VLP16-launch.py
+#   $ ros2 launch velodyne_pointcloud velodyne_transform_node-VLP16-launch.py
+#   
+#   Launch your IMU sensor, make sure TF between lidar/base frame and imu is already calibrated.
+#     In this example, we assume the imu topic has 
+#     already the orientation estimated, if not, you can launch 
+#     imu_filter_madgwick_node (with use_mag:=false publish_tf:=false)
+#     and set imu_topic to output topic of the filter.
+#
+#   If a camera is used, make sure TF between lidar/base frame and camera is
+#     already calibrated. To provide image data to this example, you should use
+#     rtabmap_sync's rgbd_sync or stereo_sync node.
+#
+#   Launch the example by adjusting the lidar topic, imu topic and base frame:
+#   $ ros2 launch rtabmap_examples lidar3d.launch.py lidar_topic:=/velodyne_points imu_topic:=/imu/data frame_id:=velodyne
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+  
+  frame_id = LaunchConfiguration('frame_id')
+
+  external_odom_frame_id =  LaunchConfiguration('external_odom_frame_id').perform(context)
+
+  fixed_frame_from_imu = False
+  fixed_frame_id =  LaunchConfiguration('fixed_frame_id').perform(context)
+  if not fixed_frame_id:
+    if external_odom_frame_id:
+      fixed_frame_id = external_odom_frame_id
+    else:
+      fixed_frame_from_imu = True
+      fixed_frame_id = frame_id.perform(context) + "_stabilized"
+  
+  imu_topic = LaunchConfiguration('imu_topic')
+  
+  rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
+  rgbd_images_topic = LaunchConfiguration('rgbd_images_topic')
+  rgbd_image_used =  rgbd_image_topic.perform(context) != '' or rgbd_images_topic.perform(context) != ''
+  rgbd_cameras = 0 if rgbd_images_topic.perform(context) != '' else 1
+  
+  lidar_topic = LaunchConfiguration('lidar_topic')
+  lidar_topic_value = lidar_topic.perform(context)
+  lidar_topic_deskewed = lidar_topic_value + "/deskewed"
+  
+  voxel_size = LaunchConfiguration('voxel_size')
+  voxel_size_value = float(voxel_size.perform(context))
+  
+  use_sim_time = LaunchConfiguration('use_sim_time')
+  
+  localization = LaunchConfiguration('localization').perform(context)
+  localization = localization == 'true' or localization == 'True'
+  
+  deskewing_slerp = LaunchConfiguration('deskewing_slerp').perform(context)
+  deskewing_slerp = deskewing_slerp == 'true' or deskewing_slerp == 'True'
+  
+  # Rule of thumb:
+  max_correspondence_distance = voxel_size_value * 10.0
+
+  shared_parameters = {
+    'use_sim_time': use_sim_time,
+    'frame_id': frame_id,
+    'qos': LaunchConfiguration('qos'),
+    'approx_sync': rgbd_image_used,
+    'wait_for_transform': 0.2,
+    # RTAB-Map's internal parameters are strings:
+    'Icp/PointToPlane': 'true',
+    'Icp/Iterations': '10',
+    'Icp/VoxelSize': str(voxel_size_value),
+    'Icp/Epsilon': '0.001',
+    'Icp/PointToPlaneK': '20',
+    'Icp/PointToPlaneRadius': '0',
+    'Icp/MaxTranslation': '3',
+    'Icp/MaxCorrespondenceDistance': str(max_correspondence_distance),
+    'Icp/Strategy': '1',
+    'Icp/OutlierRatio': '0.7',
+  }
+
+  icp_odometry_parameters = {
+    'expected_update_rate': LaunchConfiguration('expected_update_rate'),
+    'wait_imu_to_init': True,
+    'odom_frame_id': 'icp_odom',
+    'guess_frame_id': fixed_frame_id,
+    # RTAB-Map's internal parameters are strings:
+    'Odom/ScanKeyFrameThr': '0.4',
+    'OdomF2M/ScanSubtractRadius': str(voxel_size_value),
+    'OdomF2M/ScanMaxSize': '15000',
+    'OdomF2M/BundleAdjustment': 'false',
+    'Icp/CorrespondenceRatio': '0.01'
+  }
+
+  rtabmap_parameters = {
+    'subscribe_depth': False,
+    'subscribe_rgb': False,
+    'subscribe_odom_info': not external_odom_frame_id,
+    'subscribe_scan_cloud': True,
+    'odom_frame_id': (external_odom_frame_id if external_odom_frame_id else ""),
+    'odom_sensor_sync': True, # This will adjust camera position based on difference between lidar and camera stamps.
+    # RTAB-Map's internal parameters are strings:
+    'Rtabmap/DetectionRate': '0', # indirectly set to 1 Hz by the assembling time below (1s)
+    'RGBD/ProximityMaxGraphDepth': '0',
+    'RGBD/ProximityPathMaxNeighbors': '1',
+    'RGBD/AngularUpdate': '0.05',
+    'RGBD/LinearUpdate': '0.05',
+    'RGBD/CreateOccupancyGrid': 'false',
+    'Mem/NotLinkedNodesKept': 'false',
+    'Mem/STMSize': '30',
+    'Reg/Strategy': '1',
+    'Icp/CorrespondenceRatio': str(LaunchConfiguration('min_loop_closure_overlap').perform(context))
+  }
+  
+  remappings = [('imu', imu_topic),
+                ('odom', 'icp_odom')]
+  if rgbd_image_used:
+    if rgbd_cameras == 1:
+      remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
+    else:
+      remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic')))
+    
+  arguments = []
+  if localization:
+    rtabmap_parameters['Mem/IncrementalMemory'] = 'False'
+    rtabmap_parameters['Mem/InitWMWithAllNodes'] = 'True'
+  else:
+    arguments.append('-d') # This will delete the previous database (~/.ros/rtabmap.db)
+    
+  if external_odom_frame_id:
+    viz_topic = lidar_topic_deskewed
+  else:
+    viz_topic = 'odom_filtered_input_scan'
+  
+  nodes = [
+    # Lidar deskewing
+    Node(
+      package='rtabmap_util', executable='lidar_deskewing', output='screen',
+      parameters=[{
+        'use_sim_time': use_sim_time,
+        'fixed_frame_id': fixed_frame_id,
+        'wait_for_transform': 0.2,
+        'slerp': deskewing_slerp}],
+      remappings=[
+          ('input_cloud', lidar_topic)
+      ]),
+    
+    # Assemble deskewed scans based on icp odometry
+    Node(
+      package='rtabmap_util', executable='point_cloud_assembler', output='screen',
+      parameters=[{
+        'use_sim_time': use_sim_time,
+        'assembling_time': LaunchConfiguration('assembling_time'), 
+        'fixed_frame_id': (external_odom_frame_id if external_odom_frame_id else "")}], # This will make the node subscribing to icp odometry topic "icp_odom"
+      remappings=[('cloud', lidar_topic_deskewed),
+                  ('odom', 'icp_odom')]),
+    
+    # Update the map
+    Node(
+      package='rtabmap_slam', executable='rtabmap', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters,
+                  {'subscribe_rgbd': rgbd_image_used,
+                   'rgbd_cameras': rgbd_cameras,
+                   'topic_queue_size': 40,
+                   'sync_queue_size': 40,}],
+      remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))],
+      arguments=arguments), 
+
+    # Just for visualization
+    Node(
+      package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters],
+      remappings=remappings + [('scan_cloud', viz_topic)])
+  ]
+  
+  if not external_odom_frame_id:
+    # Lidar odometry
+    nodes.append(
+      Node(
+        package='rtabmap_odom', executable='icp_odometry', output='screen',
+        parameters=[shared_parameters, icp_odometry_parameters],
+        remappings=remappings + [('scan_cloud', lidar_topic_deskewed)]))
+  
+  if fixed_frame_from_imu:
+    # Create a stabilized base frame based on imu for lidar deskewing
+    nodes.append(
+      Node(
+        package='rtabmap_util', executable='imu_to_tf', output='screen',
+        parameters=[{
+          'use_sim_time': use_sim_time,
+          'fixed_frame_id': fixed_frame_id,
+          'base_frame_id': frame_id,
+          'wait_for_transform_duration': 0.001}],
+        remappings=[('imu/data', imu_topic)]))
+  
+  return nodes
+  
+def generate_launch_description():
+  return LaunchDescription([
+
+    # Launch arguments
+    DeclareLaunchArgument(
+      'use_sim_time', default_value='false',
+      description='Use simulated clock.'),
+    
+    DeclareLaunchArgument(
+      'frame_id', default_value='velodyne',
+      description='Base frame of the robot.'),
+    
+    DeclareLaunchArgument(
+      'fixed_frame_id', default_value='',
+      description='Fixed frame used for lidar deskewing. If not set, we will generate one from IMU or external_odom_frame_id if not null.'),
+    
+    DeclareLaunchArgument(
+      'external_odom_frame_id', default_value='',
+      description='Provide external odometry with TF, disabling icp_odometry.'),
+    
+    DeclareLaunchArgument(
+      'localization', default_value='false',
+      description='Localization mode.'),
+
+    DeclareLaunchArgument(
+      'lidar_topic', default_value='/velodyne_points',
+      description='Name of the lidar PointCloud2 topic.'),
+
+    DeclareLaunchArgument(
+      'imu_topic', default_value='/imu/data',
+      description='Name of an IMU topic.'),
+    
+    DeclareLaunchArgument(
+      'gps_topic', default_value='/gps/fix',
+      description='Name of a GPS topic.'),
+    
+    DeclareLaunchArgument(
+      'rgbd_image_topic', default_value='',
+      description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
+    
+    DeclareLaunchArgument(
+      'rgbd_images_topic', default_value='',
+      description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'),
+    
+    DeclareLaunchArgument(
+      'voxel_size', default_value='0.1',
+      description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
+    
+    DeclareLaunchArgument(
+      'min_loop_closure_overlap', default_value='0.2',
+      description='Minimum scan overlap pourcentage to accept a loop closure.'),
+    
+    DeclareLaunchArgument(
+      'expected_update_rate', default_value='15.0',
+      description='Expected lidar frame rate. Ideally, set it slightly higher than actual frame rate, like 15 Hz for 10 Hz lidar scans.'),
+    
+    DeclareLaunchArgument(
+      'assembling_time', default_value='1.0',
+      description='How much time (sec) we assemble lidar scans before sending them to mapping node.'),
+
+    DeclareLaunchArgument(
+      'deskewing_slerp', default_value='true',
+      description='Use fast slerp interpolation between first and last stamps of the scan for deskewing. It would less accruate than requesting TF for every points, but a lot faster. Enable this if the delay of the deskewed scan is significant larger than the original scan.'),
+
+    DeclareLaunchArgument(
+      'qos', default_value='1',
+      description='Quality of Service: 0=system default, 1=reliable, 2=best effort.'),
+
+    OpaqueFunction(function=launch_setup),
+  ])
+
+    
@@ -0,0 +1,305 @@
+# Description:
+#   In this example, we will record ALL lidar scans from 2 lidars. An IMU or low latency odometry is required for this example.
+# 
+# Example:
+#   Launch your lidar sensors
+#     In this example, we assume the lidar topics have a frame_id linked to same parent (e.g., base_link) and
+#     the extrinsics are known (URDF) and/or already calibrated.
+#   
+#   Launch your IMU sensor, make sure TF between lidar/base frame and imu is already calibrated.
+#     In this example, we assume the imu topic has 
+#     already the orientation estimated, if not, you can launch 
+#     imu_filter_madgwick_node (with use_mag:=false publish_tf:=false)
+#     and set imu_topic to output topic of the filter.
+#
+#   If a camera is used, make sure TF between lidar/base frame and camera is
+#     already calibrated. To provide image data to this example, you should use
+#     rtabmap_sync's rgbd_sync or stereo_sync node.
+#
+#   Launch the example by adjusting the lidar topics, imu topic and base frame:
+#   $ ros2 launch rtabmap_examples lidar3d.launch.py lidar1_topic:=/lidar1/velodyne_points lidar2_topic:=/lidar1/velodyne_points imu_topic:=/imu/data frame_id:=base_link
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+  
+  frame_id = LaunchConfiguration('frame_id')
+  
+  external_odom_frame_id =  LaunchConfiguration('external_odom_frame_id').perform(context)
+
+  fixed_frame_from_imu = False
+  fixed_frame_id =  LaunchConfiguration('fixed_frame_id').perform(context)
+  if not fixed_frame_id:
+    if external_odom_frame_id:
+      fixed_frame_id = external_odom_frame_id
+    else:
+      fixed_frame_from_imu = True
+      fixed_frame_id = frame_id.perform(context) + "_stabilized"
+  
+  imu_topic = LaunchConfiguration('imu_topic')
+  
+  rgbd_image_topic = LaunchConfiguration('rgbd_image_topic')
+  rgbd_images_topic = LaunchConfiguration('rgbd_images_topic')
+  rgbd_image_used =  rgbd_image_topic.perform(context) != '' or rgbd_images_topic.perform(context) != ''
+  rgbd_cameras = 0 if rgbd_images_topic.perform(context) != '' else 1
+  
+  lidar1_topic = LaunchConfiguration('lidar1_topic')
+  lidar1_topic_value = lidar1_topic.perform(context)
+  lidar1_topic_deskewed = lidar1_topic_value + "/deskewed"
+  
+  lidar2_topic = LaunchConfiguration('lidar2_topic')
+  lidar2_topic_value = lidar2_topic.perform(context)
+  lidar2_topic_deskewed = lidar2_topic_value + "/deskewed"
+  
+  voxel_size = LaunchConfiguration('voxel_size')
+  voxel_size_value = float(voxel_size.perform(context))
+  
+  use_sim_time = LaunchConfiguration('use_sim_time')
+  
+  localization = LaunchConfiguration('localization').perform(context)
+  localization = localization == 'true' or localization == 'True'
+  
+  deskewing_slerp = LaunchConfiguration('deskewing_slerp').perform(context)
+  deskewing_slerp = deskewing_slerp == 'true' or deskewing_slerp == 'True'
+  
+  # Rule of thumb:
+  max_correspondence_distance = voxel_size_value * 10.0
+
+  shared_parameters = {
+    'use_sim_time': use_sim_time,
+    'frame_id': frame_id,
+    'qos': LaunchConfiguration('qos'),
+    'approx_sync': rgbd_image_used,
+    'wait_for_transform': 0.2,
+    # RTAB-Map's internal parameters are strings:
+    'Icp/PointToPlane': 'true',
+    'Icp/Iterations': '10',
+    'Icp/VoxelSize': str(voxel_size_value),
+    'Icp/Epsilon': '0.001',
+    'Icp/PointToPlaneK': '20',
+    'Icp/PointToPlaneRadius': '0',
+    'Icp/MaxTranslation': '3',
+    'Icp/MaxCorrespondenceDistance': str(max_correspondence_distance),
+    'Icp/Strategy': '1',
+    'Icp/OutlierRatio': '0.7',
+  }
+
+  icp_odometry_parameters = {
+    'expected_update_rate': LaunchConfiguration('expected_update_rate'),
+    'wait_imu_to_init': True,
+    'odom_frame_id': 'icp_odom',
+    'guess_frame_id': fixed_frame_id,
+    # RTAB-Map's internal parameters are strings:
+    'Odom/ScanKeyFrameThr': '0.4',
+    'OdomF2M/ScanSubtractRadius': str(voxel_size_value),
+    'OdomF2M/ScanMaxSize': '15000',
+    'OdomF2M/BundleAdjustment': 'false',
+    'Icp/CorrespondenceRatio': '0.01'
+  }
+
+  rtabmap_parameters = {
+    'subscribe_depth': False,
+    'subscribe_rgb': False,
+    'subscribe_odom_info': not external_odom_frame_id,
+    'subscribe_scan_cloud': True,
+    'odom_frame_id': (external_odom_frame_id if external_odom_frame_id else ""),
+    'odom_sensor_sync': True, # This will adjust camera position based on difference between lidar and camera stamps.
+    # RTAB-Map's internal parameters are strings:
+    'Rtabmap/DetectionRate': '0', # indirectly set to 1 Hz by the assembling time below (1s)
+    'RGBD/ProximityMaxGraphDepth': '0',
+    'RGBD/ProximityPathMaxNeighbors': '1',
+    'RGBD/AngularUpdate': '0.05',
+    'RGBD/LinearUpdate': '0.05',
+    'RGBD/CreateOccupancyGrid': 'false',
+    'Mem/NotLinkedNodesKept': 'false',
+    'Mem/STMSize': '30',
+    'Reg/Strategy': '1',
+    'Icp/CorrespondenceRatio': str(LaunchConfiguration('min_loop_closure_overlap').perform(context))
+  }
+  
+  remappings = [('imu', imu_topic),
+                ('odom', 'icp_odom')]
+  if rgbd_image_used:
+    if rgbd_cameras == 1:
+      remappings.append(('rgbd_image', LaunchConfiguration('rgbd_image_topic')))
+    else:
+      remappings.append(('rgbd_images', LaunchConfiguration('rgbd_images_topic')))
+    
+  arguments = []
+  if localization:
+    rtabmap_parameters['Mem/IncrementalMemory'] = 'False'
+    rtabmap_parameters['Mem/InitWMWithAllNodes'] = 'True'
+  else:
+    arguments.append('-d') # This will delete the previous database (~/.ros/rtabmap.db)
+  
+  if external_odom_frame_id:
+    viz_topic = "combined_cloud"
+  else:
+    viz_topic = 'odom_filtered_input_scan'
+  
+  nodes = [
+    # Lidar1 deskewing
+    Node(
+      package='rtabmap_util', executable='lidar_deskewing', name="lidar1_deskewing", output='screen',
+      parameters=[{
+        'use_sim_time': use_sim_time,
+        'fixed_frame_id': fixed_frame_id,
+        'wait_for_transform': 0.2,
+        'slerp': deskewing_slerp}],
+      remappings=[
+          ('input_cloud', lidar1_topic)
+      ]),
+
+    # Lidar2 deskewing
+    Node(
+      package='rtabmap_util', executable='lidar_deskewing', name="lidar2_deskewing", output='screen',
+      parameters=[{
+        'use_sim_time': use_sim_time,
+        'fixed_frame_id': fixed_frame_id,
+        'wait_for_transform': 0.2,
+        'slerp': deskewing_slerp}],
+      remappings=[
+          ('input_cloud', lidar2_topic)
+      ]),
+
+    # Combine the two lidars in single point cloud
+    Node(
+      package='rtabmap_util', executable='point_cloud_aggregator', output='screen',
+      parameters=[{
+        'use_sim_time': use_sim_time,
+        'approx_sync': True,
+        'fixed_frame_id': fixed_frame_id,
+        'count': 2}],
+      remappings=[
+        ('cloud1', lidar1_topic_deskewed),
+        ('cloud2', lidar2_topic_deskewed)]),
+    
+    # Assemble combined deskewed scans based on icp odometry
+    Node(
+      package='rtabmap_util', executable='point_cloud_assembler', output='screen',
+      parameters=[{
+        'use_sim_time': use_sim_time,
+        'assembling_time': LaunchConfiguration('assembling_time'), 
+        'fixed_frame_id': (external_odom_frame_id if external_odom_frame_id else "")}], # This will make the node subscribing to icp odometry topic "icp_odom"
+      remappings=[('cloud', "combined_cloud"),
+                  ('odom', 'icp_odom')]),
+    
+    # Update the map
+    Node(
+      package='rtabmap_slam', executable='rtabmap', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters,
+                  {'subscribe_rgbd': rgbd_image_used,
+                   'rgbd_cameras': rgbd_cameras,
+                   'topic_queue_size': 40,
+                   'sync_queue_size': 40,}],
+      remappings=remappings + [('scan_cloud', 'assembled_cloud'), ('gps/fix', LaunchConfiguration('gps_topic'))],
+      arguments=arguments), 
+
+    # Just for visualization
+    Node(
+      package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+      parameters=[shared_parameters, rtabmap_parameters],
+      remappings=remappings + [('scan_cloud', viz_topic)])
+  ]
+  
+  if not external_odom_frame_id:
+    # Lidar odometry
+    nodes.append(
+      Node(
+        package='rtabmap_odom', executable='icp_odometry', output='screen',
+        parameters=[shared_parameters, icp_odometry_parameters],
+        remappings=remappings + [('scan_cloud', "combined_cloud")]))
+  
+  if fixed_frame_from_imu:
+    # Create a stabilized base frame based on imu for lidar deskewing
+    nodes.append(
+      Node(
+        package='rtabmap_util', executable='imu_to_tf', output='screen',
+        parameters=[{
+          'use_sim_time': use_sim_time,
+          'fixed_frame_id': fixed_frame_id,
+          'base_frame_id': frame_id,
+          'wait_for_transform_duration': 0.001}],
+        remappings=[('imu/data', imu_topic)]))
+  
+  return nodes
+  
+def generate_launch_description():
+  return LaunchDescription([
+
+    # Launch arguments
+    DeclareLaunchArgument(
+      'use_sim_time', default_value='false',
+      description='Use simulated clock.'),
+    
+    DeclareLaunchArgument(
+      'frame_id', default_value='velodyne',
+      description='Base frame of the robot.'),
+    
+    DeclareLaunchArgument(
+      'fixed_frame_id', default_value='',
+      description='Fixed frame used for lidar deskewing. If not set, we will generate one from IMU or external_odom_frame_id if not null.'),
+    
+    DeclareLaunchArgument(
+      'external_odom_frame_id', default_value='',
+      description='Provide external odometry with TF, disabling icp_odometry.'),
+    
+    DeclareLaunchArgument(
+      'localization', default_value='false',
+      description='Localization mode.'),
+
+    DeclareLaunchArgument(
+      'lidar1_topic', default_value='/lidar1/velodyne_points',
+      description='Name of the lidar1\'s PointCloud2 topic.'),
+    
+    DeclareLaunchArgument(
+      'lidar2_topic', default_value='/lidar2/velodyne_points',
+      description='Name of the lidar2\'s PointCloud2 topic.'),
+
+    DeclareLaunchArgument(
+      'imu_topic', default_value='/imu/data',
+      description='Name of an IMU topic.'),
+    
+    DeclareLaunchArgument(
+      'gps_topic', default_value='/gps/fix',
+      description='Name of a GPS topic.'),
+    
+    DeclareLaunchArgument(
+      'rgbd_image_topic', default_value='',
+      description='RGBD image topic (ignored if empty). Would be the output of a rtabmap_sync\'s rgbd_sync, stereo_sync or rgb_sync node.'),
+    
+    DeclareLaunchArgument(
+      'rgbd_images_topic', default_value='',
+      description='RGBD images topic (ignored if empty, override "rgbd_image_topic" if set). Would be the output of a rtabmap_sync\'s rgbdx_sync node.'),
+    
+    DeclareLaunchArgument(
+      'voxel_size', default_value='0.1',
+      description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
+    
+    DeclareLaunchArgument(
+      'min_loop_closure_overlap', default_value='0.2',
+      description='Minimum scan overlap pourcentage to accept a loop closure.'),
+    
+    DeclareLaunchArgument(
+      'expected_update_rate', default_value='15.0',
+      description='Expected lidar frame rate. Ideally, set it slightly higher than actual frame rate, like 15 Hz for 10 Hz lidar scans.'),
+    
+    DeclareLaunchArgument(
+      'assembling_time', default_value='1.0',
+      description='How much time (sec) we assemble lidar scans before sending them to mapping node.'),
+
+    DeclareLaunchArgument(
+      'deskewing_slerp', default_value='true',
+      description='Use fast slerp interpolation between first and last stamps of the scan for deskewing. It would less accruate than requesting TF for every points, but a lot faster. Enable this if the delay of the deskewed scan is significant larger than the original scan.'),
+
+    DeclareLaunchArgument(
+      'qos', default_value='1',
+      description='Quality of Service: 0=system default, 1=reliable, 2=best effort.'),
+
+    OpaqueFunction(function=launch_setup),
+  ])
+
+    
@@ -0,0 +1,57 @@
+# Requirements:
+#   A realsense D400 series
+#   Install realsense2 ros2 package (make sure you have this patch: https://github.com/IntelRealSense/realsense-ros/issues/2564#issuecomment-1336288238)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d400.launch.py
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node, SetParameter
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':False}]
+
+    remappings=[
+          ('rgb/image', '/camera/color/image_raw'),
+          ('rgb/camera_info', '/camera/color/camera_info'),
+          ('depth/image', '/camera/aligned_depth_to_color/image_raw')]
+
+    return LaunchDescription([
+
+        # Make sure IR emitter is enabled
+        SetParameter(name='depth_module.emitter_enabled', value=1),
+
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('realsense2_camera'), 'launch'),
+                '/rs_launch.py']),
+                launch_arguments={'align_depth.enable': 'true',
+                                  'rgb_camera.profile': '640x360x30'}.items(),
+        ),
+
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+    ])
@@ -0,0 +1,78 @@
+# Requirements:
+#   A realsense D435i
+#   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d435i_color.launch.py
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node, SetParameter
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':False,
+          'wait_imu_to_init':True}]
+
+    remappings=[
+          ('imu', '/imu/data'),
+          ('rgb/image', '/camera/color/image_raw'),
+          ('rgb/camera_info', '/camera/color/camera_info'),
+          ('depth/image', '/camera/aligned_depth_to_color/image_raw')]
+
+    return LaunchDescription([
+
+        # Launch arguments
+        DeclareLaunchArgument(
+            'unite_imu_method', default_value='2',
+            description='0-None, 1-copy, 2-linear_interpolation. Use unite_imu_method:="1" if imu topics stop being published.'),
+
+        # Make sure IR emitter is enabled
+        SetParameter(name='depth_module.emitter_enabled', value=1),
+
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('realsense2_camera'), 'launch'),
+                '/rs_launch.py']),
+                launch_arguments={'camera_namespace': '',
+                                  'enable_gyro': 'true',
+                                  'enable_accel': 'true',
+                                  'unite_imu_method': LaunchConfiguration('unite_imu_method'),
+                                  'align_depth.enable': 'true',
+                                  'enable_sync': 'true',
+                                  'rgb_camera.profile': '640x360x30'}.items(),
+        ),
+
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        # Compute quaternion of the IMU
+        Node(
+            package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
+            parameters=[{'use_mag': False, 
+                         'world_frame':'enu', 
+                         'publish_tf':False}],
+            remappings=[('imu/data_raw', '/camera/imu')]),
+    ])
@@ -0,0 +1,79 @@
+# Requirements:
+#   A realsense D435i
+#   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d435i_infra.launch.py
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node, SetParameter
+from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_depth':True,
+          'subscribe_odom_info':True,
+          'approx_sync':False,
+          'wait_imu_to_init':True}]
+
+    remappings=[
+          ('imu', '/imu/data'),
+          ('rgb/image', '/camera/infra1/image_rect_raw'),
+          ('rgb/camera_info', '/camera/infra1/camera_info'),
+          ('depth/image', '/camera/depth/image_rect_raw')]
+
+    return LaunchDescription([
+
+        # Launch arguments
+        DeclareLaunchArgument(
+            'unite_imu_method', default_value='2',
+            description='0-None, 1-copy, 2-linear_interpolation. Use unite_imu_method:="1" if imu topics stop being published.'),
+
+        #Hack to disable IR emitter
+        SetParameter(name='depth_module.emitter_enabled', value=0),
+
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('realsense2_camera'), 'launch'),
+                '/rs_launch.py']),
+                launch_arguments={'camera_namespace': '',
+                                  'enable_gyro': 'true',
+                                  'enable_accel': 'true',
+                                  'unite_imu_method': LaunchConfiguration('unite_imu_method'),
+                                  'enable_infra1': 'true',
+                                  'enable_infra2': 'true',
+                                  'enable_sync': 'true'}.items(),
+        ),
+
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+                
+        # Compute quaternion of the IMU
+        Node(
+            package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
+            parameters=[{'use_mag': False, 
+                         'world_frame':'enu', 
+                         'publish_tf':False}],
+            remappings=[('imu/data_raw', '/camera/imu')]),
+    ])
@@ -0,0 +1,79 @@
+# Requirements:
+#   A realsense D435i
+#   Install realsense2 ros2 package (ros-$ROS_DISTRO-realsense2-camera)
+# Example:
+#   $ ros2 launch rtabmap_examples realsense_d435i_stereo.launch.py
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node, SetParameter
+from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+def generate_launch_description():
+    parameters=[{
+          'frame_id':'camera_link',
+          'subscribe_stereo':True,
+          'subscribe_odom_info':True,
+          'wait_imu_to_init':True}]
+
+    remappings=[
+          ('imu', '/imu/data'),
+          ('left/image_rect', '/camera/infra1/image_rect_raw'),
+          ('left/camera_info', '/camera/infra1/camera_info'),
+          ('right/image_rect', '/camera/infra2/image_rect_raw'),
+          ('right/camera_info', '/camera/infra2/camera_info')]
+
+    return LaunchDescription([
+
+        # Launch arguments
+        DeclareLaunchArgument(
+            'unite_imu_method', default_value='2',
+            description='0-None, 1-copy, 2-linear_interpolation. Use unite_imu_method:="1" if imu topics stop being published.'),
+
+        #Hack to disable IR emitter
+        SetParameter(name='depth_module.emitter_enabled', value=0),
+
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('realsense2_camera'), 'launch'),
+                '/rs_launch.py']),
+                launch_arguments={'camera_namespace': '',
+                                  'enable_gyro': 'true',
+                                  'enable_accel': 'true',
+                                  'unite_imu_method': LaunchConfiguration('unite_imu_method'),
+                                  'enable_infra1': 'true',
+                                  'enable_infra2': 'true',
+                                  'enable_sync': 'true'}.items(),
+        ),
+
+        Node(
+            package='rtabmap_odom', executable='stereo_odometry', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings),
+                
+        # Compute quaternion of the IMU
+        Node(
+            package='imu_filter_madgwick', executable='imu_filter_madgwick_node', output='screen',
+            parameters=[{'use_mag': False, 
+                         'world_frame':'enu', 
+                         'publish_tf':False}],
+            remappings=[('imu/data_raw', '/camera/imu')]),
+    ])
@@ -0,0 +1,98 @@
+
+# Example to run rgbd datasets:
+#
+# [ROS1] Prepare ROS1 rosbag for conversion to ROS2
+#   $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
+#   $ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
+#   $ wget https://gist.githubusercontent.com/matlabbe/897b775c38836ed8069a1397485ab024/raw/45e6ac01541973a17505000fc8c7ca399ae275eb/tum_rename_world_kinect_frame.py
+#   $ python3 tum_rename_world_kinect_frame.py rgbd_dataset_freiburg3_long_office_household.bag
+#   $ wget https://raw.githubusercontent.com/srv/srv_tools/kinetic/bag_tools/scripts/change_frame_id.py
+#
+#   Edit change_frame_id.py, remove/comment lines beginning with "PKG" and "import roslib", change line "Exception, e" to "Exception"
+#   $ roscore
+#   $ python3 change_frame_id.py -o rgbd_dataset_freiburg3_long_office_household_frameid_fixed.bag -i rgbd_dataset_freiburg3_long_office_household.bag -f openni_rgb_optical_frame -t /camera/rgb/image_color
+#
+# [ROS2]
+#   $ sudo pip install rosbags     # See https://docs.openvins.com/dev-ros1-to-ros2.html
+#   $ rosbags-convert --src rgbd_dataset_freiburg3_long_office_household_frameid_fixed.bag --dst rgbd_dataset_freiburg3_long_office_household_frameid_fixed
+#
+#   $ ros2 launch rtabmap_examples rgbdslam_datasets.launch.py
+#   $ cd rgbd_dataset_freiburg3_long_office_household_frameid_fixed
+#   $ ros2 bag play rgbd_dataset_freiburg3_long_office_household_frameid_fixed.db3 --clock
+#
+# To get RMSE after the run:
+#   $ rtabmap-report ~/.ros/rtabmap.db
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch_ros.actions import SetParameter
+
+def generate_launch_description():
+
+    odom_parameters=[{
+        'frame_id':'kinect',
+        # ground truth here is just used to align odometry with ground truth's first pose
+        'ground_truth_frame_id':'world',
+        'ground_truth_base_frame_id':'kinect_gt',
+        'keep_color': True,
+        'wait_for_transform': 0.5,
+        # RTAB-Map's parameters should all be string type:
+        'Odom/Strategy':'0',
+        'Odom/ResetCountdown':'15',
+        'Odom/GuessSmoothingDelay':'0',
+    }]
+    slam_parameters=[{
+          'frame_id':'kinect',
+          # Record ground truth to compute RMSE
+          'ground_truth_frame_id':'world',
+          'ground_truth_base_frame_id':'kinect_gt',
+          'subscribe_rgb':False,
+          'subscribe_depth':False,
+          'subscribe_rgbd':True,
+          'subscribe_odom_info':True,
+          # RTAB-Map's parameters should all be string type:
+          'Mem/UseOdomFeatures': 'true',
+          'Rtabmap/StartNewMapOnLoopClosure':'true',
+          'RGBD/CreateOccupancyGrid':'false',
+          'Rtabmap/CreateIntermediateNodes':'true',
+          'RGBD/LinearUpdate':'0',
+          'RGBD/AngularUpdate':'0'}]
+          
+    odom_remappings=[
+          ('rgb/image', '/camera/rgb/image_color'),
+          ('rgb/camera_info', '/camera/rgb/camera_info'),
+          ('depth/image', '/camera/depth/image')]
+    
+    # We will use the output of odometry to avoid re-extracting 
+    # the same features on slam side.
+    slam_remappings=[
+        ("rgbd_image", "odom_rgbd_image")]
+          
+
+    return LaunchDescription([
+
+        SetParameter(name='use_sim_time', value=True),
+        # 'use_sim_time' will be set on all nodes following the line above
+
+        # Nodes to launch
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            parameters=odom_parameters,
+            remappings=odom_remappings),
+
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=slam_parameters,
+            remappings=slam_remappings,
+            arguments=['-d']),
+
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=slam_parameters,
+            remappings=slam_remappings),
+       
+        # /tf topic is missing in the converted ROS2 bag, create a fake tf
+        Node(
+            package='tf2_ros', executable='static_transform_publisher', output='screen',
+            arguments=['0.0', '0.0', '0.0', '-1.57079632679', '0.0', '-1.57079632679', 'kinect', 'openni_rgb_optical_frame']),
+    ])
@@ -0,0 +1,144 @@
+# Program dedicated to launch 2 realsense cameras. D405 were tested!
+# (Please note that this program can manage maximum 4 depth cameras)
+
+# Program modified by: Adrian Ricardez (https://github.com/adricort)
+# Date: 07.07.2023
+# Deutsches Zentrum für Luft- und Raumfahrt
+
+# Requirements:
+
+# Be sure that you did the build on your rtabmap workspace with the -DRTABMAP_SYNC_MULTI_RGBD=ON parameter.
+
+# Launching the 2 realsense cameras (change your serial numbers):
+#   $ ros2 launch realsense2_camera rs_multi_camera_launch.py pointcloud.enable1:=true pointcloud.enable2:=true filters:=colorizer align_depth:=true serial_no1:=_128422271521 serial_no2:=_128422272518
+
+# Running the static publishers depending on the position of your cameras:
+#   $ ros2 run tf2_ros static_transform_publisher --x 0.039 --y 0 --z 0 --yaw 0 --pitch 0 --roll 1.5708 --frame-id base_link --child-frame-id camera1_link
+#   $ ros2 run tf2_ros static_transform_publisher --x -0 --y 0 --z 0.02 --yaw 1.5708 --pitch -1.5708 --roll 0 --frame-id base_link --child-frame-id camera2_link
+
+#   $ ros2 launch rtabmap_examples rtabmap_D405x2.launch.py
+
+# You should be able to visualize now, with the right rviz config, the camera's SLAM
+# Have fun!
+
+import os
+import launch
+import launch_ros
+from ament_index_python.packages import get_package_share_directory
+          
+def generate_launch_description():     
+
+    config_rviz = os.path.join(
+            get_package_share_directory('rtabmap_examples'), 'config', 'slam_D405x2_config.rviz')         
+
+    rviz_node = launch_ros.actions.Node(
+        package='rviz2', executable='rviz2', output='screen',
+        arguments=[["-d"], [config_rviz]]
+    )
+
+    rgbd_sync1_node = launch_ros.actions.Node(
+        package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync1', output="screen",
+        parameters=[{
+            "approx_sync": False
+            }],
+        remappings=[
+            ("rgb/image", '/camera1/color/image_rect_raw'),
+            ("depth/image", '/camera1/depth/image_rect_raw'),
+            ("rgb/camera_info", '/camera1/color/camera_info'),
+            ("rgbd_image", 'rgbd_image')],
+        namespace='realsense_camera1'
+    )
+    rgbd_sync2_node = launch_ros.actions.Node(
+        package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync2', output="screen",
+        parameters=[{
+            "approx_sync": False
+            }],
+        remappings=[
+            ("rgb/image", '/camera2/color/image_rect_raw'),
+            ("depth/image", '/camera2/depth/image_rect_raw'),
+            ("rgb/camera_info", '/camera2/color/camera_info'),
+            ("rgbd_image", 'rgbd_image')],
+        namespace='realsense_camera2'
+    )
+            
+    # RGB-D odometry
+    rgbd_odometry_node = launch_ros.actions.Node(
+        package='rtabmap_odom', executable='rgbd_odometry', output="screen",
+        parameters=[{
+            "frame_id": 'base_link',
+            "odom_frame_id": 'odom',
+            "publish_tf": True,
+            "approx_sync": True,
+            "subscribe_rgbd": True,
+            }],
+        remappings=[
+            ("rgbd_image", '/realsense_camera1/rgbd_image'),
+            ("odom", 'odom')],
+        arguments=["--delete_db_on_start", ''],
+        prefix='',
+        namespace='rtabmap'
+    )
+
+    # SLAM 
+    slam_node = launch_ros.actions.Node(
+        package='rtabmap_slam', executable='rtabmap', output="screen",
+        parameters=[{
+            "rgbd_cameras":2,
+            "subscribe_depth": True,
+            "subscribe_rgbd": True,
+            "subscribe_rgb": True,
+            "subscribe_odom_info": True,
+            "frame_id": 'base_link',
+            "map_frame_id": 'map',
+            "publish_tf": True,
+            "database_path": '~/.ros/rtabmap.db',
+            "approx_sync": True,
+            "Mem/IncrementalMemory": "true",
+            "Mem/InitWMWithAllNodes": "true"
+        }],
+        remappings=[
+            ("rgbd_image0", '/realsense_camera1/rgbd_image'),
+            ("rgbd_image1", '/realsense_camera2/rgbd_image'),
+            ("odom", 'odom')],
+        arguments=["--delete_db_on_start"],
+        prefix='',
+        namespace='rtabmap'
+    )
+
+    voxelcloud1_node = launch_ros.actions.Node(
+        package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb1', output='screen',
+        parameters=[{
+            "approx_sync": True,
+        }],
+        remappings=[
+            ('rgb/image', '/camera1/color/image_rect_raw'),
+            ('depth/image', '/camera1/depth/image_rect_raw'),
+            ('rgb/camera_info', '/camera1/color/camera_info'),
+            ('rgbd_image', 'rgbd_image'),
+            ('cloud', 'voxel_cloud1')]
+    )
+
+    voxelcloud2_node = launch_ros.actions.Node(
+        package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb2', output='screen',
+        parameters=[{
+            "approx_sync": True,
+        }],
+        remappings=[
+            ('rgb/image', '/camera2/color/image_rect_raw'),
+            ('depth/image', '/camera2/depth/image_rect_raw'),
+            ('rgb/camera_info', '/camera2/color/camera_info'),
+            ('rgbd_image', 'rgbd_image'),
+            ('cloud', 'voxel_cloud2')]
+    )    
+
+    return launch.LaunchDescription(
+        [
+        rviz_node,
+        rgbd_sync1_node,
+        rgbd_sync2_node,
+        rgbd_odometry_node,
+        slam_node,
+        voxelcloud1_node,
+        voxelcloud2_node
+        ]
+    )
@@ -0,0 +1,173 @@
+# Program dedicated to launch 3 realsense cameras. D405 were tested!
+# (Please note that this program can manage maximum 4 depth cameras)
+
+# Program modified by: Adrian Ricardez (https://github.com/adricort)
+# Date: 07.07.2023
+# Deutsches Zentrum für Luft- und Raumfahrt
+
+# Requirements:
+
+# Be sure that you did the build on your rtabmap workspace with the -DRTABMAP_SYNC_MULTI_RGBD=ON parameter.
+
+# Launching the 3 realsense cameras (change your serial numbers):
+#   $ ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true serial_no:=_128422271521
+#   $ ros2 launch realsense2_camera rs_multi_camera_launch.py pointcloud.enable1:=true pointcloud.enable2:=true serial_no1:=_128422272518 serial_no2:=_128422272647
+
+# Running the static publishers depending on the position of your cameras:
+#   $ ros2 run tf2_ros static_transform_publisher --x 0.039 --y 0 --z 0 --yaw 0 --pitch 0 --roll 0 --frame-id base_link --child-frame-id camera_link
+#   $ ros2 run tf2_ros static_transform_publisher --x 0 --y 0 --z 0.02 --yaw 1.5708 --pitch -1.5708 --roll 0 --frame-id base_link --child-frame-id camera1_link
+#   $ ros2 run tf2_ros static_transform_publisher --x 0 --y 0 --z -0.02 --yaw 1.5708 --pitch 1.5708 --roll 0 --frame-id base_link --child-frame-id camera2_link
+
+#   $ ros2 launch rtabmap_examples rtabmap_D405x3.launch.py
+
+# You should be able to visualize now, with the right rviz config, the camera's SLAM
+# Have fun!
+
+import os
+import launch
+import launch_ros
+from ament_index_python.packages import get_package_share_directory
+          
+def generate_launch_description():     
+
+    config_rviz = os.path.join(
+            get_package_share_directory('rtabmap_examples'), 'config', 'slam_D405x3_config.rviz')         
+
+    rviz_node = launch_ros.actions.Node(
+        package='rviz2', executable='rviz2', output='screen',
+        arguments=[["-d"], [config_rviz]]
+    )
+
+    rgbd_sync1_node = launch_ros.actions.Node(
+        package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync1', output="screen",
+        parameters=[{
+            "approx_sync": False
+            }],
+        remappings=[
+            ("rgb/image", '/camera/color/image_rect_raw'),
+            ("depth/image", '/camera/depth/image_rect_raw'),
+            ("rgb/camera_info", '/camera/color/camera_info'),
+            ("rgbd_image", 'rgbd_image')],
+        namespace='realsense_camera1'
+    )
+    rgbd_sync2_node = launch_ros.actions.Node(
+        package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync2', output="screen",
+        parameters=[{
+            "approx_sync": False
+            }],
+        remappings=[
+            ("rgb/image", '/camera1/color/image_rect_raw'),
+            ("depth/image", '/camera1/depth/image_rect_raw'),
+            ("rgb/camera_info", '/camera1/color/camera_info'),
+            ("rgbd_image", 'rgbd_image')],
+        namespace='realsense_camera2'
+    )
+    rgbd_sync3_node = launch_ros.actions.Node(
+        package='rtabmap_sync', executable='rgbd_sync', name='rgbd_sync3', output="screen",
+        parameters=[{
+            "approx_sync": False
+            }],
+        remappings=[
+            ("rgb/image", '/camera2/color/image_rect_raw'),
+            ("depth/image", '/camera2/depth/image_rect_raw'),
+            ("rgb/camera_info", '/camera2/color/camera_info'),
+            ("rgbd_image", 'rgbd_image')],
+        namespace='realsense_camera3'
+    )
+            
+    # RGB-D odometry
+    rgbd_odometry_node = launch_ros.actions.Node(
+        package='rtabmap_odom', executable='rgbd_odometry', output="screen",
+        parameters=[{
+            "frame_id": 'base_link',
+            "odom_frame_id": 'odom',
+            "publish_tf": True,
+            "approx_sync": True,
+            "subscribe_rgbd": True,
+            }],
+        remappings=[
+            ("rgbd_image", '/realsense_camera1/rgbd_image'),
+            ("odom", 'odom')],
+        arguments=["--delete_db_on_start", ''],
+        prefix='',
+        namespace='rtabmap'
+    )
+
+    # SLAM 
+    slam_node = launch_ros.actions.Node(
+        package='rtabmap_slam', executable='rtabmap', output="screen",
+        parameters=[{
+            "rgbd_cameras":3,
+            "subscribe_depth": True,
+            "subscribe_rgbd": True,
+            "subscribe_rgb": True,
+            "subscribe_odom_info": True,
+            "frame_id": 'base_link',
+            "map_frame_id": 'map',
+            "publish_tf": True,
+            "database_path": '~/.ros/rtabmap.db',
+            "approx_sync": True,
+            "Mem/IncrementalMemory": "true",
+            "Mem/InitWMWithAllNodes": "true"
+        }],
+        remappings=[
+            ("rgbd_image0", '/realsense_camera1/rgbd_image'),
+            ("rgbd_image1", '/realsense_camera2/rgbd_image'),
+            ("rgbd_image2", '/realsense_camera3/rgbd_image'),
+            ("odom", 'odom')],
+        arguments=["--delete_db_on_start"],
+        prefix='',
+        namespace='rtabmap'
+    )
+
+    voxelcloud1_node = launch_ros.actions.Node(
+        package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb1', output='screen',
+        parameters=[{
+            "approx_sync": True,
+        }],
+        remappings=[
+            ('rgb/image', '/camera/color/image_rect_raw'),
+            ('depth/image', '/camera/depth/image_rect_raw'),
+            ('rgb/camera_info', '/camera/color/camera_info'),
+            ('rgbd_image', 'rgbd_image'),
+            ('cloud', 'voxel_cloud1')]
+    )
+
+    voxelcloud2_node = launch_ros.actions.Node(
+        package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb2', output='screen',
+        parameters=[{
+            "approx_sync": True,
+        }],
+        remappings=[
+            ('rgb/image', '/camera1/color/image_rect_raw'),
+            ('depth/image', '/camera1/depth/image_rect_raw'),
+            ('rgb/camera_info', '/camera1/color/camera_info'),
+            ('rgbd_image', 'rgbd_image'),
+            ('cloud', 'voxel_cloud2')]
+    )
+    voxelcloud3_node = launch_ros.actions.Node(
+        package='rtabmap_util', executable='point_cloud_xyzrgb', name='point_cloud_xyzrgb3', output='screen',
+        parameters=[{
+            "approx_sync": True,
+        }],
+        remappings=[
+            ('rgb/image', '/camera2/color/image_rect_raw'),
+            ('depth/image', '/camera2/depth/image_rect_raw'),
+            ('rgb/camera_info', '/camera2/color/camera_info'),
+            ('rgbd_image', 'rgbd_image'),
+            ('cloud', 'voxel_cloud3')]
+    )   
+
+    return launch.LaunchDescription(
+        [
+        rviz_node,
+        rgbd_sync1_node,
+        rgbd_sync2_node,
+        rgbd_sync3_node,
+        rgbd_odometry_node,
+        slam_node,
+        voxelcloud1_node,
+        voxelcloud2_node,
+        voxelcloud3_node,
+        ]
+    )
@@ -0,0 +1,121 @@
+# Example using zed odometry for lidar deskewing:
+#   $ ros2 launch rtabmap_examples vlp16_zed.launch.py camera_model:=zed2i
+#
+# To use only zed's imu for deskewing:
+#   $ ros2 launch rtabmap_examples vlp16_zed.launch.py camera_model:=zed2i use_zed_odometry:=false
+#
+
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+import tempfile
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+  
+  assemble = LaunchConfiguration('assemble').perform(context)
+  assemble = assemble == 'true' or assemble == 'True'
+  
+  lidar3d_launch_file = 'lidar3d.launch.py'
+  if assemble:
+    lidar3d_launch_file = 'lidar3d_assemble.launch.py'
+    
+  use_zed_odometry = LaunchConfiguration('use_zed_odometry').perform(context)
+  use_zed_odometry = use_zed_odometry == 'true' or use_zed_odometry == 'True'
+  
+  fixed_frame_id = ''
+  if use_zed_odometry:
+    fixed_frame_id = 'odom'
+  
+  # Hack to override grab_resolution parameter without changing any files
+  with tempfile.NamedTemporaryFile(mode='w+t', delete=False) as zed_override_file:
+      zed_override_file.write("---\n"+
+                "/**:\n"+
+                "    ros__parameters:\n"+
+                "        general:\n"+
+                "            grab_resolution: 'VGA'")
+
+  return [
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('velodyne_driver'), 'launch'),
+            '/velodyne_driver_node-VLP16-launch.py']),
+    ),
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('velodyne_pointcloud'), 'launch'),
+            '/velodyne_transform_node-VLP16-launch.py']),
+    ),
+    
+    # Launch camera driver
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('zed_wrapper'), 'launch'),
+            '/zed_camera.launch.py']),
+            launch_arguments={'camera_model': LaunchConfiguration('camera_model'),
+                                'ros_params_override_path': zed_override_file.name,
+                                'publish_tf': LaunchConfiguration('use_zed_odometry'), # publish VIO frame
+                                'publish_map_tf': 'false'}.items(),
+    ),
+    
+    # Static transform between zed and velodyne frame (zed will be our base frame because VIO is already linked to it)
+    Node(package='tf2_ros', executable='static_transform_publisher', arguments=["0", "0", "-0.05", "0", "0", "0", "zed_camera_link", "velodyne"]),
+    
+    # Sync rgb/depth/camera_info together
+    Node(
+        package='rtabmap_sync', executable='rgbd_sync', output='screen',
+        parameters=[{'approx_sync': False}],
+        remappings=[('rgb/image', '/zed/zed_node/rgb/image_rect_color'),
+                    ('rgb/camera_info', '/zed/zed_node/rgb/camera_info'),
+                    ('depth/image', '/zed/zed_node/depth/depth_registered')]),
+
+    IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            get_package_share_directory('rtabmap_examples'), 'launch'),
+            '/', lidar3d_launch_file]),
+        launch_arguments={'voxel_size': LaunchConfiguration('voxel_size'),
+                          'localization': LaunchConfiguration('localization'),
+                          'frame_id': 'zed_camera_link',
+                          'lidar_topic': 'velodyne_points',
+                          'imu_topic': '/zed/zed_node/imu/data',
+                          'rgbd_image_topic': 'rgbd_image',
+                          'fixed_frame_id': fixed_frame_id}.items()),
+  ]
+  
+def generate_launch_description():
+  return LaunchDescription([
+    # Launch arguments         
+    DeclareLaunchArgument(
+      'camera_model', default_value='',
+      description="[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features. Valid choices are: ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']"),
+
+    DeclareLaunchArgument(
+      'use_zed_odometry', default_value='true',
+      description='Use ZED\'s odometry for deskewing.'),
+    
+    DeclareLaunchArgument(
+      'qos', default_value='1',
+      description='Quality of Service: 0=system default, 1=reliable, 2=best effort'),
+
+    DeclareLaunchArgument(
+      'localization', default_value='false',
+      description='Localization mode.'),
+
+    DeclareLaunchArgument(
+      'voxel_size', default_value='0.1',
+      description='Voxel size (m) of the downsampled lidar point cloud. For indoor, set it between 0.1 and 0.3. For outdoor, set it to 0.5 or over.'),
+
+    DeclareLaunchArgument(
+      'assemble', default_value='false',
+      description='Assemble ALL lidar scans.'),
+
+    OpaqueFunction(function=launch_setup),
+  ])
@@ -0,0 +1,101 @@
+# Requirements:
+#   A ZED camera
+#   Install zed ros2 wrapper package (https://github.com/stereolabs/zed-ros2-wrapper)
+# Example:
+#   $ ros2 launch rtabmap_examples zed.launch.py camera_model:=zed2i
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription, LaunchContext
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import UnlessCondition
+
+import tempfile
+
+parameters = []
+remappings = []
+
+def launch_setup(context: LaunchContext, *args, **kwargs):
+
+    # Hack to override grab_resolution parameter without changing any files
+    with tempfile.NamedTemporaryFile(mode='w+t', delete=False) as zed_override_file:
+        zed_override_file.write("---\n"+
+                  "/**:\n"+
+                  "    ros__parameters:\n"+
+                  "        general:\n"+
+                  "            grab_resolution: 'VGA'")
+
+    parameters=[{'frame_id':'zed_camera_link',
+                 'subscribe_rgbd':True,
+                 'approx_sync':False,
+                 'wait_imu_to_init':True}]
+
+    remappings=[('imu', '/zed/zed_node/imu/data')]
+
+    if LaunchConfiguration('use_zed_odometry').perform(context) in ["True", "true"]:
+        remappings.append(('odom', '/zed/zed_node/odom'))
+    else:
+        parameters.append({'subscribe_odom_info': True})
+    
+    return [
+        # Launch camera driver
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('zed_wrapper'), 'launch'),
+                '/zed_camera.launch.py']),
+                launch_arguments={'camera_model': LaunchConfiguration('camera_model'),
+                                    'ros_params_override_path': zed_override_file.name,
+                                    'publish_tf': LaunchConfiguration('use_zed_odometry'),
+                                    'publish_map_tf': 'false'}.items(),
+        ),
+
+        # Sync rgb/depth/camera_info together
+        Node(   
+            package='rtabmap_sync', executable='rgbd_sync', output='screen',
+            parameters=parameters,
+            remappings=[('rgb/image', '/zed/zed_node/rgb/image_rect_color'),
+                        ('rgb/camera_info', '/zed/zed_node/rgb/camera_info'),
+                        ('depth/image', '/zed/zed_node/depth/depth_registered')]),
+
+        # Visual odometry
+        Node(
+            package='rtabmap_odom', executable='rgbd_odometry', output='screen',
+            condition=UnlessCondition(LaunchConfiguration('use_zed_odometry')),
+            parameters=parameters,
+            remappings=remappings,),
+
+        # VSLAM
+        Node(
+            package='rtabmap_slam', executable='rtabmap', output='screen',
+            parameters=parameters,
+            remappings=remappings,
+            arguments=['-d']),
+
+        # Visualization
+        Node(
+            package='rtabmap_viz', executable='rtabmap_viz', output='screen',
+            parameters=parameters,
+            remappings=remappings)
+    ]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+
+        # Launch arguments
+        DeclareLaunchArgument(
+            'use_zed_odometry', default_value='false',
+            description='Use zed\'s computed odometry instead of using rtabmap\'s odometry.'),
+        
+        DeclareLaunchArgument(
+            'camera_model', default_value='',
+            description="[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features. Valid choices are: ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']"),
+        
+        OpaqueFunction(function=launch_setup)
+    ])
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rtabmap_examples</name>
+  <version>0.22.0</version>
+  <description>RTAB-Map's example launch files.</description>
+  <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
+  <author>Mathieu Labbe</author>
+  <license>BSD</license>
+  <url type="bugtracker">https://github.com/introlab/rtabmap_ros/issues</url>
+  <url type="repository">https://github.com/introlab/rtabmap_ros</url>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>rtabmap_odom</exec_depend>
+  <exec_depend>rtabmap_slam</exec_depend>
+  <exec_depend>rtabmap_util</exec_depend>
+  <exec_depend>rtabmap_rviz_plugins</exec_depend>
+  <exec_depend>rtabmap_slam</exec_depend>
+  <exec_depend>rtabmap_util</exec_depend>
+  <exec_depend>rtabmap_viz</exec_depend>
+  <exec_depend>imu_filter_madgwick</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>realsense2_camera</exec_depend>
+  <exec_depend>velodyne</exec_depend>
+  
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>