Update 0.15.4.

rgbd_sync and rtabmap.launch: added depth_scale parameter.
Updated OdomInfo msg with memoryUsage field.
CoreWrapper: supporting GridGlobal/MaxNodes parameter, added "RtabmapROS" statistics.
MapsManager: updated when occupancy grid is updated.

include/rtabmap_ros/CoreWrapper.h

@@ -183,6 +183,7 @@ private:
 	rtabmap::Transform lastPublishedMetricGoal_;
 	bool latestNodeWasReached_;
 	rtabmap::ParametersMap parameters_;
+	std::map<std::string, float> rtabmapROSStats_;
 
 	std::string frameId_;
 	std::string odomFrameId_;
@@ -274,6 +275,7 @@ private:
 	bool odomSensorSync_;
 	float rate_;
 	bool createIntermediateNodes_;
+	int maxMappingNodes_;
 	ros::Time time_;
 	ros::Time previousStamp_;
 };

include/rtabmap_ros/MapsManager.h

@@ -68,7 +68,7 @@ public:
 			const ros::Time & stamp,
 			const std::string & mapFrameId);
 
-	cv::Mat generateGridMap(
+	cv::Mat getGridMap(
 			const std::map<int, rtabmap::Transform> & filteredPoses,
 			float & xMin,
 			float & yMin,