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Based your first example, this should work:

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start --Grid/MaxGroundAngle 45.0 --Grid/MaxObstacleHeight 2.0" depth_topic:=/zed/depth/depth_registered frame_id:=base_frame approx_sync:=false visual_odometry:=false odom_topic:=/zed/odom camera_info_topic:=/zed/rgb/camera_info rgb_topic:=/zed/rgb/image_rect_color  rtabmapviz:=false

Put rtabmap's parameters in rtabmap_args.

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