Odom: added parameter "always_process_most_recent_frame" (default true like before) so that we can disable aggressive frame dropping in case input frames are published with flaky latency (e.g., with large rosbag having issue to replay in time topics)

rtabmap_odom/include/rtabmap_odom/OdometryROS.h

@@ -98,7 +98,7 @@ protected:
 	virtual void postProcessData(const rtabmap::SensorData & /*data*/, const std_msgs::msg::Header & /*header*/) const {}
 
 private:
-
+	void processData();
 	virtual void mainLoop();
 	virtual void mainLoopKill();
 	virtual void updateParameters(rtabmap::ParametersMap &) {}
@@ -174,9 +174,12 @@ private:
 	rtabmap::Transform guessPreviousPose_;
 	double previousStamp_;
 	double previousClockTime_;
+	double lastReceivedTopicClock_;
+	double lastReceivedTopicStamp_;
 	double expectedUpdateRate_;
 	double maxUpdateRate_;
 	double minUpdateRate_;
+	bool alwaysProcessMostRecentFrame_;
 	std::string compressionImgFormat_;
 	bool compressionParallelized_;
 	int odomStrategy_;

rtabmap_odom/include/rtabmap_odom/icp_odometry.hpp

@@ -78,6 +78,7 @@ private:
 	double scanNormalGroundUp_;
 	bool deskewing_;
 	bool deskewingSlerp_;
+	int topicQueueSize_;
 	//std::vector<std::shared_ptr<rtabmap_ros::PluginInterface> > plugins_;
 	//pluginlib::ClassLoader<rtabmap_ros::PluginInterface> plugin_loader_;
 	bool scanReceived_ = false;