Added input stamps double-verification in some nodelets (data_throttle, stereo_throttle, rgbd_sync, stereo_sync, pointcloud_to_depthimage)

rtabmapviz: added "max_odom_update_rate" parameters
Odom: moved IMU callback from stereo_odometry nodelet to OdometryROS, added "wait_imu_to_init" parameter to initialize odom with IMU first
Fixed fake camera local transform on scan-only callbacks (rtabmap, rtabmapviz)

include/rtabmap_ros/GuiWrapper.h

@@ -108,6 +108,7 @@ private:
 	bool waitForTransform_;
 	double waitForTransformDuration_;
 	bool odomSensorSync_;
+	double maxOdomUpdateRate_;
 	tf::TransformListener tfListener_;
 
 	message_filters::Subscriber<rtabmap_ros::Info> infoTopic_;

include/rtabmap_ros/OdometryROS.h

@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <std_srvs/Empty.h>
 #include <std_msgs/Header.h>
+#include <sensor_msgs/Imu.h>
 
 #include <rtabmap_ros/ResetPose.h>
 #include <rtabmap/core/SensorData.h>
@@ -86,6 +87,9 @@ private:
 	virtual void onOdomInit() = 0;
 	virtual void updateParameters(rtabmap::ParametersMap & parameters) {}
 
+	void callbackIMU(const sensor_msgs::ImuConstPtr& msg);
+	void reset(const rtabmap::Transform & pose = rtabmap::Transform());
+
 private:
 	rtabmap::Odometry * odometry_;
 	boost::thread * warningThread_;
@@ -120,6 +124,7 @@ private:
 	ros::ServiceServer setLogErrorSrv_;
 	tf2_ros::TransformBroadcaster tfBroadcaster_;
 	tf::TransformListener tfListener_;
+	ros::Subscriber imuSub_;
 
 	bool paused_;
 	int resetCountdown_;
@@ -131,6 +136,8 @@ private:
 	rtabmap::Transform guessPreviousPose_;
 	double previousStamp_;
 	double expectedUpdateRate_;
+	int odomStrategy_;
+	bool waitIMUToinit_;
 };
 
 }