Rtabmap mapping , localization and navigation
ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_args:="--delete_db_on_start" subscribe_rgbd:=true rgbd_sync:=true approx_synch:=false rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info frame_id:=camera_optical_link approx_sync:=false wait_imu_to_init:=false qos:=1 rviz:=false