Taking a dig at Narendra Modi's comment that "I (Modi) don't want to become prime minister, want to be a chowkidar", Gandhi, without naming anyone, said: "BJP talks about chowkidar (watchman) of tijori (safe). But I have heard that chowkidars also steal. We (the Congress) want to empower all Indians."
As Rahul Gandhi spoke, partymen raised slogans in his support.
"We launched free medicines scheme in the state when we had our government here. Are you getting free medicines now under BJP government?... no ... the BJP only runs government for big industrialists and not for poor or the downtrodden," he added.
"If we come to power, we want to give free medicines and also provide right to shelter to the poor," he said.
State Congress president Sachin Pilot and former chief minister Ashok Gehlot also addressed the rally.
Voting in Karauli-Dholpur and four other constituencies will take place April 24.
(With IANS inputs)