Change camera parameters based on values on CameraInfo topic (listed as comments in the file)
Try to set the rtslam debug level to Off, although I don't think it's working.
Set the sensor manager start date after initialize all sensors.
Finish the hardware threads when there's no more publisher or data to process.
Initialize correct sensor manager based on the mode (Online of Offline)
Change CAMERA_ID to 1 due to a bug into HardwareCameraSensor

When using mOnlineDump with CAMERA_ID 0 it names the dumped images as
image_<cont>.pgm, while with CAMERA_ID 1 the dumps are named
image_<id>_<cont>.pgm. The problem comes in when trying to run in
mOffline mode from these dumps because it only searches for images
which name contains the id. There's a workaround in RT-SLAM's main.hpp
file added by rtslam's commit ffb346e88bfefbe to use a camera with ID
0 but I think it's better change it to 1. I don't think it will hurt.
Add launch files (normal and in debug mode) for simplemain node