message: test_velodyne.launch: added loop_ratio option to close loops in kitti dataset
diff: <arg name="frame_id" default="velodyne"/>
  <arg name="queue_size" default="1"/> <!-- Set to 100 for kitti dataset to make sure all scans are processed -->
  + <arg name="loop_ratio" default="0.4"/> <!-- Set to 0.2 for kitti -->
  <arg name="resolution" default="0.1"/> <!-- set 0.1-0.3 for indoor, set 0.3-0.5 for outdoor (0.4 for kitti) -->
  <param name="Icp/MaxCorrespondenceDistance" type="string" value="1"/>
  <param name="Icp/PM" type="string" value="true"/>
  <param name="Icp/PMOutlierRatio" type="string" value="0.7"/>
  - <param name="Icp/CorrespondenceRatio" type="string" value="0.4"/>
  + <param name="Icp/CorrespondenceRatio" type="string" value="$(arg loop_ratio)"/>
  </node>
  <node if="$(arg rtabmapviz)" name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen">
  