message: Cleanup rgbdslam_datasets.launch
diff: $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
  $ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
  - $ roslaunch rtabmap_ros rgbdslam_datasets.launch feature=6
  + $ roslaunch rtabmap_ros rgbdslam_datasets.launch
  $ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag
  -->
  <remap from="odom" to="vis_odom"/>
  <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
  - <param name="Vis/CorType" type="string" value="0"/> <!-- 0=features matching 1=Optical Flow -->
  - <param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
  <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
  - <param name="Vis/MaxDepth" type="string" value="4"/>
  - <param name="Vis/CorNNDR" type="string" value="0.6"/>
  <param name="Odom/ResetCountdown" type="string" value="15"/>
  - <param name="Odom/KeyFrameThr" type="string" value="0.5"/>
  <param name="odom_frame_id" type="string" value="vis_odom"/>
  <param name="frame_id" type="string" value="kinect"/>
  <param name="subscribe_laserScan" type="bool" value="false"/>
  <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
  - <param name="Vis/EstimationType" type="string" value="0"/>
  - <param name="Vis/MaxDepth" type="string" value="4"/>
  - <param name="RGBD/LoopClosureReextractFeatures" type="string" value="false"/>
  - <param name="Mem/RawDescriptorsKept" type="string" value="true"/>
  <param name="Kp/DetectorStrategy" type="string" value="0"/>
  <param name="RGBD/CreateOccupancyGrid" type="string" value="false"/>
  <param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/>
  