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Edit the launch file 'rgbdslam_sample_config.launch'. In line 46,47...., change the feature detector and extractor as SURF or ORB. If it is ORB, you should use only BRUTEFORCE as 'matcher_type'. But FLANN would be better for SURF. To continue the process do,
$ roslaunch rgbdslam rgbdslam_sample_config.launch
This is the way to disable SIFTGPU.