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Hi,

For the "some parts of the map disappearing" with the rtabmap_ros/MapCloud rviz plugin, you can disable its node filtering parameters to keep all clouds shown:

• Set "Node filtering radius (m)" to 0.
• Set "Node filtering angle (degrees)" to 0.

The demo stereo launch files you are referring are working only for the specified bags (which require "use_sim_time=true"). On a robot, you should remap the topics sent from the ros bag and set "use_sim_time=false". When simulating the clock, the TF_OLD_DATA warning can happen when you are replaying the same rosbag: the second time, all timestamps are in the past.

In the demo launch file, the map_assembler subscribes to /rtabmap/mapData_optimized topic (note the rtabmap namespace). If mapData_optimized is not published, map_assembler will do nothing.

For your specific question: " Is there any call to make to some rtabmap services (like publish_map) or is there another option to add in an other file ?", which kind of file do you want to add? If you want to process another bag file with the same launch file, record a bag with the same topics recorded in the demo bag files. Example:

$ rosbag info stereo_outdoorA.bag 
path:        stereo_outdoorA.bag
version:     2.0
duration:    3:55s (235s)
start:       Nov 11 2014 15:28:20.90 (1415737700.90)
end:         Nov 11 2014 15:32:16.65 (1415737936.65)
size:        668.3 MB
messages:    54083
compression: none [848/848 chunks]
types:       sensor_msgs/CameraInfo      [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
             tf2_msgs/TFMessage          [94810edda583a504dfda3829e70d7eec]
topics:      /stereo_camera/left/camera_info_throttle              3741 msgs    : sensor_msgs/CameraInfo     
             /stereo_camera/left/image_raw_throttle/compressed     3753 msgs    : sensor_msgs/CompressedImage
             /stereo_camera/right/camera_info_throttle             3741 msgs    : sensor_msgs/CameraInfo     
             /stereo_camera/right/image_raw_throttle/compressed    3745 msgs    : sensor_msgs/CompressedImage
             /tf                                                  39103 msgs    : tf2_msgs/TFMessage          (2 connections)

cheers