See #658. README: added example to colcon with cmake options.

README.md

@@ -43,6 +43,11 @@ $ ros2 launch rtabmap_ros rtabmap.launch.py \
     $ colcon build --symlink-install
     ```
 
+* To build with `rgbd_cameras>1` support and/or `subscribe_user_data` support:
+    ```bash
+    $ colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON
+    ```
+
 # Example with Turtlebot3
 
 1. Launch Turtlebot3 simulator:

src/CoreWrapper.cpp

@@ -3199,7 +3199,7 @@ void CoreWrapper::globalBundleAdjustmentCallback(
 			iterations,
 			pixelVariance,
 			rematchFeatures?"true":"false");
-	bool success = rtabmap_.globalBundleAdjustment((Optimizer::Type)optimizer, iterations, pixelVariance, rematchFeatures);
+	bool success = rtabmap_.globalBundleAdjustment((Optimizer::Type)optimizer, rematchFeatures, iterations, pixelVariance);
 	if(!success)
 	{
 		RCLCPP_ERROR(get_logger(), "Post-Processing: Global Bundle Adjustment failed!");