message: Updated demo_stereo_outdoor.launch
diff: <!-- Choose visualization -->
  <arg name="rviz" default="true" />
  <arg name="rtabmapviz" default="false" />
  + <arg name="local_bundle" default="false" />
  <param name="use_sim_time" type="bool" value="True"/>
  <param name="odom_frame_id" type="string" value="odom"/>
  <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
  - <param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
  - <param name="Vis/MaxDepth" type="string" value="10"/>
  + <param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
  + <param name="Vis/MaxDepth" type="string" value="0"/>
  + <param name="Odom/GuessMotion" type="string" value="true"/>
  <param name="Vis/MinInliers" type="string" value="10"/>
  + <param if="$(arg local_bundle)" name="OdomF2M/BundleAdjustment" type="string" value="1"/>
  <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
  <param name="OdomF2M/MaxSize" type="string" value="1000"/>
  <param name="GFTT/MinDistance" type="string" value="10"/>
  <remap from="odom" to="/stereo_odometry"/>
  <param name="queue_size" type="int" value="30"/>
  + <param name="map_negative_poses_ignored" type="bool" value="true"/>
  <!-- RTAB-Map's parameters -->
  <param name="Rtabmap/TimeThr" type="string" value="700"/>
  <param name="Grid/DepthDecimation" type="string" value="4"/>
  <param name="Grid/FlatObstacleDetected" type="string" value="true"/>
  - <param name="Kp/MaxFeatures" type="string" value="200"/>
  - <param name="Kp/MaxDepth" type="string" value="10"/>
  - <param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
  - <param name="SURF/HessianThreshold" type="string" value="1000"/>
  - <param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
  - <param name="RGBD/LoopClosureReextractFeatures" type="string" value="true"/>
  - <param name="Vis/MaxDepth" type="string" value="10"/>
  + <param name="Kp/MaxDepth" type="string" value="0"/>
  + <param name="Kp/DetectorStrategy" type="string" value="6"/>
  + <param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
  + <param name="Vis/MaxDepth" type="string" value="0"/>
  + <param name="RGBD/CreateOccupancyGrid" type="string" value="true"/>
  </node>
  <!-- Visualisation RTAB-Map -->
  