rtabmap launch file for roomba with kinect

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Dear all,

my hardware is a roomba with a kinect 360 and a nvidia jetson nano. Software is ros melodic. To drive the roomba I use the create_robot package (here the link to my fork).

I'm following this tutorials to set up rtabmap according to the hardware: in details, paragraph 2.4 - Kinect + Odometry.

I'd like to use this setup as the create_robot package provides the odometry, which is correctly coming with the topic "/odom".

I'm having big issues with the launch file, which I customized a bit to fit also the roomba driver.

Maybe I have a rookie question, but could you please explain how I should set up this launch file?

• It seems unclear also the remap from..to topics. Actually some are there, other missing.
• From the example I removed the namespace, as I noticed topics names are built on top of it.

Below my latest version of the launch file and the list of published topics.

<?xml version="1.0"?>
<launch>
    <include file="$(find freenect_launch)/launch/freenect.launch">
        <arg name="depth_registration" value="True" />
    </include>
    <arg name="config" default="$(find create_bringup)/config/default.yaml" />
    <arg name="desc" default="true" />
    <arg name="rate" default="5" />
    <arg name="data_skip" default="2" />
    <arg name="approx_sync" default="true" />
    <arg name="rgbd_sync" default="false" />
    <node name="create_driver" pkg="create_driver" type="create_driver" output="screen">
        <rosparam command="load" file="$(arg config)" />
        <param name="robot_model" value="CREATE_2" />
    </node>
    <include if="$(arg desc)" file="$(find create_description)/launch/create_2.launch" />
    <node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
        <remap from="rgb/image" to="/camera/rgb/image_rect_color" />
        <remap from="depth/image" to="/camera/depth_registered/image_raw" />
        <remap from="rgb/camera_info" to="/camera/rgb/camera_info" />
        <remap from="rgbd_image" to="rgbd_image" />
        <param name="approx_sync" value="true" />
    </node>
    <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="false" />
        <param name="subscribe_rgbd" type="bool" value="true" />
        <remap from="/odom" to="/base_controller/odom" />
        <remap from="/rtabmap/rgbd_image" to="/rgbd_image" />
        <param name="queue_size" type="int" value="10" />
        <param name="RGBD/AngularUpdate" type="string" value="0.01" />
        <param name="RGBD/LinearUpdate" type="string" value="0.01" />
        <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false" />
    </node>
</launch>

Topic list:

/base_controller/odom
/battery/capacity
/battery/charge
/battery/charge_ratio
/battery/charging_state
/battery/current
/battery/temperature
/battery/voltage
/bumper
/camera/depth/camera_info
/camera/depth/disparity
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_rect
/camera/depth ...