Arguments (pass arguments as '<name>:=<value>'):

    'stereo':
        Use stereo input instead of RGB-D.
        (default: 'false')

    'localization':
        Launch in localization mode.
        (default: 'false')

    'rtabmap_viz':
        Launch RTAB-Map UI (optional).
        (default: 'true')

    'rviz':
        Launch RVIZ (optional).
        (default: 'false')

    'use_sim_time':
        Use simulation (Gazebo) clock if true
        (default: 'false')

    'log_level':
        ROS logging level (debug, info, warn, error). For RTAB-Map's logger level, use "args" argument.
        (default: 'info')

    'cfg':
        To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app.
        (default: '')

    'gui_cfg':
        Configuration path of rtabmap_viz.
        (default: '~/.ros/rtabmap_gui.ini')

    'rviz_cfg':
        Configuration path of rviz2.
        (default: '/opt/ros/humble/share/rtabmap_launch/launch/config/rgbd.rviz')

    'frame_id':
        Fixed frame id of the robot (base frame), you may set "base_link" or "base_footprint" if they are published. For camera-only config, this could be "camera_link".
        (default: 'base_link')

    'odom_frame_id':
        If set, TF is used to get odometry instead of the topic.
        (default: '')

    'map_frame_id':
        Output map frame id (TF).
        (default: 'map')

    'map_topic':
        Map topic name.
        (default: 'map')

    'publish_tf_map':
        Publish TF between map and odomerty.
        (default: 'true')

    'namespace':
        
        (default: 'rtabmap')

    'database_path':
        Where is the map saved/loaded.
        (default: '~/.ros/rtabmap.db')

    'topic_queue_size':
        Queue size of individual topic subscribers.
        (default: '1')

    'queue_size':
        Backward compatibility, use "sync_queue_size" instead.
        (default: '10')

    'qos':
        General QoS used for sensor input data: 0=system default, 1=Reliable, 2=Best Effort.
        (default: '1')

    'wait_for_transform':
        
        (default: '0.2')

    'rtabmap_args':
        Backward compatibility, use "args" instead.
        (default: '')

    'launch_prefix':
        For debugging purpose, it fills prefix tag of the nodes, e.g., "xterm -e gdb -ex run --args"
        (default: '')

    'output':
        Control node output (screen or log).
        (default: 'screen')

    'initial_pose':
        Set an initial pose (only in localization mode). Format: "x y z roll pitch yaw" or "x y z qx qy qz qw". Default: see "RGBD/StartAtOrigin" doc
        (default: '')

    'output_goal_topic':
        Output goal topic (can be connected to nav2).
        (default: '/goal_pose')

    'use_action_for_goal':
        Connect to nav2's navigate_to_pose action server instead of publishing the output goal topic.
        (default: 'false')

    'ground_truth_frame_id':
        e.g., "world"
        (default: '')

    'ground_truth_base_frame_id':
        e.g., "tracker", a fake frame matching the frame "frame_id" (but on different TF tree)
        (default: '')

    'approx_sync':
        If timestamps of the input topics should be synchronized using approximate or exact time policy.
        (default: 'false')

    'approx_sync_max_interval':
        (sec) 0 means infinite interval duration (used with approx_sync=true)
        (default: '0.0')

    'rgb_topic':
        
        (default: '/camera/rgb/image_rect_color')

    'depth_topic':
        
        (default: '/camera/depth_registered/image_raw')

    'camera_info_topic':
        
        (default: '/camera/rgb/camera_info')

    'stereo_namespace':
        
        (default: '/stereo_camera')

    'left_image_topic':
        
        (default: LaunchConfig('stereo_namespace') + '/left/image_rect_color')

    'right_image_topic':
        Use grayscale image for efficiency
        (default: LaunchConfig('stereo_namespace') + '/right/image_rect')

    'left_camera_info_topic':
        
        (default: LaunchConfig('stereo_namespace') + '/left/camera_info')

    'right_camera_info_topic':
        
        (default: LaunchConfig('stereo_namespace') + '/right/camera_info')

    'rgbd_sync':
        Pre-sync rgb_topic, depth_topic, camera_info_topic.
        (default: 'false')

    'approx_rgbd_sync':
        false=exact synchronization.
        (default: 'true')

    'subscribe_rgbd':
        Already synchronized RGB-D related topic, e.g., with rtabmap_sync/rgbd_sync nodelet.
        (default: LaunchConfig('rgbd_sync'))

    'rgbd_topic':
        
        (default: 'rgbd_image')

    'depth_scale':
        
        (default: '1.0')

    'compressed':
        If you want to subscribe to compressed image topics
        (default: 'false')

    'rgb_image_transport':
        Common types: compressed, theora (see "rosrun image_transport list_transports")
        (default: 'compressed')

    'depth_image_transport':
        Depth compatible types: compressedDepth (see "rosrun image_transport list_transports")
        (default: 'compressedDepth')

    'subscribe_scan':
        
        (default: 'false')

    'scan_topic':
        
        (default: '/scan')

    'subscribe_scan_cloud':
        
        (default: 'false')

    'scan_cloud_topic':
        
        (default: '/scan_cloud')

    'scan_normal_k':
        
        (default: '0')

    'visual_odometry':
        Launch rtabmap visual odometry node.
        (default: 'true')

    'icp_odometry':
        Launch rtabmap icp odometry node.
        (default: 'false')

    'odom_topic':
        Odometry topic name.
        (default: 'odom')

    'vo_frame_id':
        Visual/Icp odometry frame ID for TF.
        (default: LaunchConfig('odom_topic'))

    'publish_tf_odom':
        
        (default: 'true')

    'odom_tf_angular_variance':
        If TF is used to get odometry, this is the default angular variance
        (default: '0.01')

    'odom_tf_linear_variance':
        If TF is used to get odometry, this is the default linear variance
        (default: '0.001')

    'odom_args':
        More arguments for odometry (overwrite same parameters in rtabmap_args).
        (default: '')

    'odom_sensor_sync':
        
        (default: 'false')

    'odom_guess_frame_id':
        
        (default: '')

    'odom_guess_min_translation':
        
        (default: '0.0')

    'odom_guess_min_rotation':
        
        (default: '0.0')

    'imu_topic':
        Used with VIO approaches and for SLAM graph optimization (gravity constraints).
        (default: '/imu/data')

    'wait_imu_to_init':
        
        (default: 'false')

    'subscribe_user_data':
        User data synchronized subscription.
        (default: 'false')

    'user_data_topic':
        
        (default: '/user_data')

    'user_data_async_topic':
        User data async subscription (rate should be lower than map update rate).
        (default: '/user_data_async')

    'gps_topic':
        GPS async subscription. This is used for SLAM graph optimization and loop closure candidates selection.
        (default: '/gps/fix')

    'tag_topic':
        AprilTag topic async subscription. This is used for SLAM graph optimization and loop closure detection. Landmark poses are also published accordingly to current optimized map. Required: Remove optional frame name parameters from apriltag's cfg file so that TF frame can be deducted from topic's family and id.
        (default: '/detections')

    'tag_linear_variance':
        
        (default: '0.0001')

    'tag_angular_variance':
        >=9999 means rotation is ignored in optimization, when rotation estimation of the tag is not reliable or not computed.
        (default: '9999.0')

    'fiducial_topic':
        aruco_detect async subscription, use tag_linear_variance and tag_angular_variance to set covariance.
        (default: '/fiducial_transforms')