From 44924a3aa1a624316f1f196bd90f0c66f10dd839 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 4 Aug 2015 14:17:46 -0400
Subject: [PATCH] fixed sending goal commands from rtabmapviz

---
 launch/demo/demo_robot_mapping.launch | 1 -
 src/GuiWrapper.cpp                    | 7 ++++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/launch/demo/demo_robot_mapping.launch b/launch/demo/demo_robot_mapping.launch
index daa081d2..a8fc6c13 100644
--- a/launch/demo/demo_robot_mapping.launch
+++ b/launch/demo/demo_robot_mapping.launch
@@ -37,7 +37,6 @@
 	  <param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>   <!-- Local loop closure detection with locations in STM -->
 	  <param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/> 
 	  <param name="LccIcp/Type" type="string" value="2"/>                      <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
-	  <param name="LccBow/MaxDepth" type="string" value="0.0"/>                <!-- 3D visual words maximum depth 0=infinity -->
 	  <param name="LccBow/InlierDistance" type="string" value="0.1"/>          <!-- 3D visual words correspondence distance -->
       <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
     </node>
diff --git a/src/GuiWrapper.cpp b/src/GuiWrapper.cpp
index e8a506e8..d124b949 100644
--- a/src/GuiWrapper.cpp
+++ b/src/GuiWrapper.cpp
@@ -381,10 +381,11 @@ void GuiWrapper::handleEvent(UEvent * anEvent)
 		}
 		else if(cmd == rtabmap::RtabmapEventCmd::kCmdLabel)
 		{
-			UASSERT(cmdEvent->value1().isStr() || cmdEvent->value1().isInt() || cmdEvent->value1().isUInt());
+			UASSERT(cmdEvent->value1().isStr());
+			UASSERT(cmdEvent->value2().isUndef() || cmdEvent->value2().isInt() || cmdEvent->value2().isUInt());
 			rtabmap_ros::SetLabel setLabelSrv;
-			setLabelSrv.request.node_id = !cmdEvent->value1().isStr()?cmdEvent->value1().toInt():0;
-			setLabelSrv.request.node_label = cmdEvent->value1().isStr()?cmdEvent->value1().toStr():"";
+			setLabelSrv.request.node_label = cmdEvent->value1().toStr();
+			setLabelSrv.request.node_id = cmdEvent->value2().isUndef()?0:cmdEvent->value2().toInt();
 			if(!ros::service::call("set_label", setLabelSrv))
 			{
 				ROS_ERROR("Can't call \"set_label\" service");