message: rtabmap.launch: added publish_tf_map and publish_tf_odom arguments for convenience
diff: <arg name="rtabmap_args" default="$(arg args)"/> <!-- deprecated, use "args" argument -->
  <arg name="launch_prefix" default=""/> <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->
  <arg name="output" default="screen"/> <!-- Control node output (screen or log) -->
  + <arg name="publish_tf_map" default="true"/>
  <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
  <arg if="$(arg stereo)" name="approx_sync" default="false"/>
  <arg name="icp_odometry" default="false"/> <!-- Launch rtabmap icp odometry node -->
  <arg name="odom_topic" default="odom"/> <!-- Odometry topic name -->
  <arg name="vo_frame_id" default="$(arg odom_topic)"/> <!-- Visual/Icp odometry frame ID for TF -->
  + <arg name="publish_tf_odom" default="true"/>
  <arg name="odom_tf_angular_variance" default="1"/> <!-- If TF is used to get odometry, this is the default angular variance -->
  <arg name="odom_tf_linear_variance" default="1"/> <!-- If TF is used to get odometry, this is the default linear variance -->
  <arg name="odom_args" default=""/> <!-- More arguments for odometry (overwrite same parameters in rtabmap_args) -->
  <param name="frame_id" type="string" value="$(arg frame_id)"/>
  <param name="odom_frame_id" type="string" value="$(arg vo_frame_id)"/>
  + <param name="publish_tf" type="bool" value="$(arg publish_tf_odom)"/>
  <param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
  <param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
  <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
  <param name="frame_id" type="string" value="$(arg frame_id)"/>
  <param name="odom_frame_id" type="string" value="$(arg vo_frame_id)"/>
  + <param name="publish_tf" type="bool" value="$(arg publish_tf_odom)"/>
  <param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
  <param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
  <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
  <param name="frame_id" type="string" value="$(arg frame_id)"/>
  <param name="odom_frame_id" type="string" value="$(arg vo_frame_id)"/>
  + <param name="publish_tf" type="bool" value="$(arg publish_tf_odom)"/>
  <param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
  <param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
  <param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
  <param name="frame_id" type="string" value="$(arg frame_id)"/>
  <param name="map_frame_id" type="string" value="$(arg map_frame_id)"/>
  <param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
  + <param name="publish_tf" type="bool" value="$(arg publish_tf_map)"/>
  <param name="ground_truth_frame_id" type="string" value="$(arg ground_truth_frame_id)"/>
  <param name="ground_truth_base_frame_id" type="string" value="$(arg ground_truth_base_frame_id)"/>
  <param name="odom_tf_angular_variance" type="double" value="$(arg odom_tf_angular_variance)"/>
  