message: rtabmap.launch: when icp_odometry option is true, make rtabmapviz subscribe only to PointCloud2 output of icp_odometry
diff: <param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
  <param name="subscribe_rgbd" type="bool" value="$(eval subscribe_rgbd or use_odom_features)"/>
  <param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
  - <param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
  - <param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
  + <param unless="$(arg icp_odometry)" name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
  + <param if="$(arg icp_odometry)" name="subscribe_scan_cloud" type="bool" value="$(eval subscribe_scan or subscribe_scan_cloud)"/>
  + <param unless="$(arg icp_odometry)" name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
  <param name="subscribe_scan_descriptor" type="bool" value="$(arg subscribe_scan_descriptor)"/>
  <param if="$(arg visual_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
  <param if="$(arg icp_odometry)" name="subscribe_odom_info" type="bool" value="true"/>
  <remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
  <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
  - <remap if="$(arg icp_odometry)" from="scan" to="odom_filtered_input_scan"/>
  <remap unless="$(arg icp_odometry)" from="scan" to="$(arg scan_topic)"/>
  <remap if="$(arg icp_odometry)" from="scan_cloud" to="odom_filtered_input_scan"/>
  <remap unless="$(arg icp_odometry)" from="scan_cloud" to="$(arg scan_cloud_topic)"/>
  