message: rgbd_mapping.launch: creating/using rtabmap_gui.ini in ~/.ros
diff: <arg name="localization" default="false"/>
  <!-- Corresponding config files -->
  - <arg name="rtabmapviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
  + <arg name="rtabmapviz_cfg" default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
  <arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  