roslaunch realsense realsense_r200_launch.launch dHeight:=240 dWidth:=320 dFPS:=30 cHeight:=240 cWidth:=320 cFPS:=30
roslaunch rgbd_mapping_my.launch rgb_topic:=/camera/color/image_raw depth_registered_topic:=/camera/depth/image_raw camera_info_topic:=/camera/color/camera_info frame_id:=base_link rtabmap_args:="--delete_db_on_start" estimation:=1
answers.ros.org/question/224250/rtabmap_ros-with-realsense-odometry-could-not-get-transform-from-base_link-to-camera_color_optical_frame/
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