From 22c63924ca4f3f59e57801d3cc9bbb0ddc034052 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 12 Mar 2017 21:47:22 -0400
Subject: [PATCH] sync with rtabmap 0.12.3

---
 CMakeLists.txt                   | 2 +-
 include/rtabmap_ros/GuiWrapper.h | 2 +-
 src/CameraNode.cpp               | 3 ++-
 src/GuiWrapper.cpp               | 3 ++-
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 46e7a3cc..92473315 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ find_package(rviz)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(RTABMap 0.12.2 REQUIRED)
+find_package(RTABMap 0.12.3 REQUIRED)
 
 find_package(OpenCV REQUIRED)
 
diff --git a/include/rtabmap_ros/GuiWrapper.h b/include/rtabmap_ros/GuiWrapper.h
index 07483638..a8ae548c 100644
--- a/include/rtabmap_ros/GuiWrapper.h
+++ b/include/rtabmap_ros/GuiWrapper.h
@@ -60,7 +60,7 @@ public:
 	virtual ~GuiWrapper();
 
 protected:
-	virtual void handleEvent(UEvent * anEvent);
+	virtual bool handleEvent(UEvent * anEvent);
 
 private:
 	void infoMapCallback(const rtabmap_ros::InfoConstPtr & infoMsg, const rtabmap_ros::MapDataConstPtr & mapMsg);
diff --git a/src/CameraNode.cpp b/src/CameraNode.cpp
index 808430a1..df1f0530 100644
--- a/src/CameraNode.cpp
+++ b/src/CameraNode.cpp
@@ -219,7 +219,7 @@ public:
 	}
 
 protected:
-	virtual void handleEvent(UEvent * event)
+	virtual bool handleEvent(UEvent * event)
 	{
 		if(event->getClassName().compare("CameraEvent") == 0)
 		{
@@ -243,6 +243,7 @@ protected:
 				rosPublisher_.publish(rosMsg);
 			}
 		}
+		return false;
 	}
 
 private:
diff --git a/src/GuiWrapper.cpp b/src/GuiWrapper.cpp
index 48af6efa..6350189f 100644
--- a/src/GuiWrapper.cpp
+++ b/src/GuiWrapper.cpp
@@ -253,7 +253,7 @@ void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
 	QMetaObject::invokeMethod(mainWindow_, "processRtabmapEvent3DMap", Q_ARG(rtabmap::RtabmapEvent3DMap, e));
 }
 
-void GuiWrapper::handleEvent(UEvent * anEvent)
+bool GuiWrapper::handleEvent(UEvent * anEvent)
 {
 	if(anEvent->getClassName().compare("ParamEvent") == 0)
 	{
@@ -413,6 +413,7 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
 			ROS_ERROR("Can't call \"reset_odom\" service, (will only work with rtabmap/visual_odometry node.)");
 		}
 	}
+	return false;
 }
 
 void GuiWrapper::commonDepthCallback(