Some fixes:

-Memory: Fixed wrongly rejected scan matching transform because of too large correction
-DBViewer: Fixed not shown proximity scans
-DBDriver: Fixed not loaded links' user_data on getAllLinks() method
-MainWindow: Added planning statistics
-DBReader: set a maximum of 10 sec sleep if the map ID has changed

corelib/src/DBReader.cpp

@@ -54,7 +54,8 @@ DBReader::DBReader(const std::string & databasePath,
 	_goalsIgnored(goalsIgnored),
 	_dbDriver(0),
 	_currentId(_ids.end()),
-	_previousStamp(0)
+	_previousStamp(0),
+	_previousMapID(0)
 {
 }
 
@@ -70,7 +71,8 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
 	_goalsIgnored(goalsIgnored),
 	_dbDriver(0),
 	_currentId(_ids.end()),
-	_previousStamp(0)
+	_previousStamp(0),
+	_previousMapID(0)
 {
 }
 
@@ -94,6 +96,7 @@ bool DBReader::init(int startIndex)
 	_ids.clear();
 	_currentId=_ids.end();
 	_previousStamp = 0;
+	_previousMapID = 0;
 
 	if(_paths.size() == 0)
 	{
@@ -315,9 +318,15 @@ OdometryEvent DBReader::getNextData()
 					UERROR("The option to use database stamps is set (framerate<0), but there are no stamps saved in the database! Aborting...");
 					this->kill();
 				}
-				else if(_previousStamp > 0)
+				else if(_previousMapID == mapId && _previousStamp > 0)
 				{
 					int sleepTime = 1000.0*(stamp-_previousStamp) - 1000.0*_timer.getElapsedTime();
+					if(sleepTime > 10000)
+					{
+						UWARN("Detected long delay (%d sec, stamps = %f vs %f). Waiting a maximum of 10 seconds.",
+								sleepTime/1000, _previousStamp, stamp);
+						sleepTime = 10000;
+					}
 					if(sleepTime > 2)
 					{
 						uSleep(sleepTime-2);
@@ -334,6 +343,7 @@ OdometryEvent DBReader::getNextData()
 					UDEBUG("slept=%fs vs target=%fs", slept, stamp-_previousStamp);
 				}
 				_previousStamp = stamp;
+				_previousMapID = mapId;
 			}
 			else if(_frameRate>0.0f)
 			{