message: Updated test_d435i_vio.launch
diff: <remap from="/imu/data" to="/rtabmap/imu"/>
  </node>
  +<node pkg="topic_tools" type="throttle" name="imu_throttle" args="messages /rtabmap/imu 100.0"/>
  +
  <!-- RTAB-Map: depth mode -->
  <!-- We have to launch stereo_odometry externally from rtabmap.launch so that rtabmap can use RGB-D input -->
  <group ns="rtabmap">
  -<node if="$(arg depth_mode)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" args="--Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml">
  +<node if="$(arg depth_mode)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" args="--Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml --Rtabmap/ImagesAlreadyRectified false" output="screen">
  <remap from="left/image_rect" to="/camera/infra1/image_rect_raw"/>
  <remap from="right/image_rect" to="/camera/infra2/image_rect_raw"/>
  <remap from="left/camera_info" to="/camera/infra1/camera_info"/>
  <remap from="right/camera_info" to="/camera/infra2/camera_info"/>
  - <remap from="imu" to="/rtabmap/imu"/>
  + <remap from="imu" to="/rtabmap/imu_throttle"/>
  <param name="frame_id" value="camera_link"/>
  <param name="wait_imu_to_init" value="true"/>
  </node>
  <arg name="camera_info_topic" value="/camera/color/camera_info"/>
  <arg name="visual_odometry" value="false"/>
  <arg name="frame_id" value="camera_link"/>
  - <arg name="imu_topic" value="/rtabmap/imu"/>
  + <arg name="imu_topic" value="/rtabmap/imu_throttle"/>
  <arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
  <arg name="rviz" value="$(arg rviz)"/>
  </include>
  <!-- RTAB-Map: Stereo mode -->
  <include unless="$(arg depth_mode)" file="$(find rtabmap_ros)/launch/rtabmap.launch">
  <arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"/>
  + <arg name="odom_args" value="--Rtabmap/ImagesAlreadyRectified false"/>
  <arg name="left_image_topic" value="/camera/infra1/image_rect_raw"/>
  <arg name="right_image_topic" value="/camera/infra2/image_rect_raw"/>
  <arg name="left_camera_info_topic" value="/camera/infra1/camera_info"/>
  <arg name="right_camera_info_topic" value="/camera/infra2/camera_info"/>
  <arg name="stereo" value="true"/>
  <arg name="frame_id" value="camera_link"/>
  - <arg name="imu_topic" value="/rtabmap/imu"/>
  + <arg name="imu_topic" value="/rtabmap/imu_throttle"/>
  <arg name="wait_imu_to_init" value="true"/>
  <arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
  <arg name="rviz" value="$(arg rviz)"/>
  