Invalid roslaunch XML syntax

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Hi guys, I am unable to use the following launch file without getting "Invalid roslaunch XML syntax". Any suggestions? (I'm a novice) Thanks in advance.

<launch>
  <!-- Visualization and SLAM nodes use same data, so just subscribe once and relay messages -->
  <node name="odom_relay" type="relay" pkg="topic_tools" args="/base_controller/odom /base_controller/odom_relay" />
  <node name="scan_relay" type="relay" pkg="topic_tools" args="/base_scan /base_scan_relay" />
  <node name="camera_info_relay" type="relay" pkg="topic_tools" args="/camera/data_throttled_camera_info /camera/data_throttled_camera_info_relay" />
  <node name="republish_rgb" type="republish" pkg="image_transport" args="theora in:=/camera/data_throttled_image raw out:=/camera/data_throttled_image_relay" />
  <node name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=/camera/data_throttled_image_depth raw out:=/camera/data_throttled_image_depth_relay" />

  <!-- SLAM client side -->
  <!-- args: "delete_db_on_start" and "udebug" -->
  <group ns="rtabmap">
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
          <param name="frame_id" type="string" value="base_link"/>

          <param name="subscribe_depth" type="bool" value="true"/>
          <param name="subscribe_laserScan" type="bool" value="true"/>

          <remap from="odom" to="/base_controller/odom_relay"/>
          <remap from="scan" to="/base_scan_relay"/>

          <remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
          <remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
          <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>

          <param name="queue_size" type="int" value="10"/>

          <!-- RTAB-Map's parameters -->
          <param name="RGBD/PoseScanMatching" type="string" value=“true”/>
          <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
          <param name="LccIcp/Type" type="string" value="2"/>
          <param name="LccBow/MinInliers" type="string" value="5"/>
          <param name="LccBow/InlierDistance" type="string" value="0.1"/>
          <param name="RGBD/AngularUpdate" type="string" value="0.01"/>
          <param name="RGBD/LinearUpdate" type="string" value="0.01"/>
          <param name="Rtabmap/TimeThr" type="string" value="700"/>
          <param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
    </node>

  <node pkg="rviz" type="rviz" name="rviz"/>

  <!-- Construct point cloud of the latest throttled data -->
  <node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
    <remap from="rgb/image"       to="/camera/data_throttled_image_relay"/>
    <remap from="depth/image"     to="/camera/data_throttled_image_depth_relay"/>
    <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
    <remap from="cloud"           to="voxel_cloud" />

    <param name="queue_size" type="int" value="10"/>
    <param name="voxel_size" type="double" value="0.01"/>
  </node>
</launch>

http://wiki.ros.org/rtabmap_ros/Tutor...