message: Updated test_velodyne.launch with FLOAM option
diff: <arg name="frame_id" default="velodyne"/>
  + <arg name="resolution" default="0.1"/> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor -->
  +
  + <arg name="floam" default="false"/> <!-- RTAB-Map should be built with FLOAM http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html -->
  +
  <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch">
  <arg if="$(arg scan_20_hz)" name="rpm" value="1200"/>
  <arg unless="$(arg scan_20_hz)" name="rpm" value="600"/>
  <!-- ICP parameters -->
  <param name="Icp/PointToPlane" type="string" value="true"/>
  <param name="Icp/Iterations" type="string" value="10"/>
  - <param name="Icp/VoxelSize" type="string" value="0.2"/>
  + <param if="$(arg floam)" name="Icp/VoxelSize" type="string" value="0"/>
  + <param unless="$(arg floam)" name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
  <param name="Icp/DownsamplingStep" type="string" value="1"/> <!-- cannot be increased with ring-like lidar -->
  <param name="Icp/Epsilon" type="string" value="0.001"/>
  <param name="Icp/PointToPlaneK" type="string" value="20"/>
  <!-- Odom parameters -->
  <param name="Odom/ScanKeyFrameThr" type="string" value="0.9"/>
  - <param name="Odom/Strategy" type="string" value="0"/>
  - <param name="OdomF2M/ScanSubtractRadius" type="string" value="0.2"/>
  + <param if="$(arg floam)" name="Odom/Strategy" type="string" value="11"/>
  + <param unless="$(arg floam)" name="Odom/Strategy" type="string" value="0"/>
  + <param name="OdomF2M/ScanSubtractRadius" type="string" value="$(arg resolution)"/>
  <param name="OdomF2M/ScanMaxSize" type="string" value="15000"/>
  + <param name="OdomLOAM/Sensor" type="string" value="0"/> <!-- select VLP16 format -->
  + <param name="OdomLOAM/Resolution" type="string" value="$(arg resolution)"/>
  </node>
  <node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d">
  <param name="Optimizer/GravitySigma" type="string" value="0.3"/>
  <!-- ICP parameters -->
  - <param name="Icp/VoxelSize" type="string" value="0.2"/>
  + <param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
  <param name="Icp/PointToPlaneK" type="string" value="20"/>
  <param name="Icp/PointToPlaneRadius" type="string" value="0"/>
  <param name="Icp/PointToPlane" type="string" value="true"/>
  