ros-pkg/visual_odometry: Publishing the local map and the last frame features as clouds (generated only if there is a subscriber). Simplified all test_odometry_###.launch files to a single one launch file with arguments

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1663 f169173b-cf89-36c8-b27e-44dbe73f0c83

src/CoreNode.cpp

@@ -76,6 +76,7 @@ int main(int argc, char** argv)
 					   uSplit(iter->first, '/').front().compare("BRIEF") == 0 ||
 					   uSplit(iter->first, '/').front().compare("ORB") == 0 ||
 					   uSplit(iter->first, '/').front().compare("FREAK") == 0 ||
+					   uSplit(iter->first, '/').front().compare("GFTT") == 0 ||
 					   uSplit(iter->first, '/').front().compare("OdomICP") == 0)
 					{
 						parameters.erase(iter++);