rtabmap parameters are now private. rtabmapviz has now a parameter "rtabmap" (rtabmap node name) to get/set parameters. Added clear_params option (default true) to rtabmap.launch. This fixes http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-rosmon-is-not-running-twice-td8373.html

include/rtabmap_ros/GuiWrapper.h

@@ -117,6 +117,7 @@ private:
 	rtabmap::MainWindow * mainWindow_;
 	std::string cameraNodeName_;
 	double lastOdomInfoUpdateTime_;
+	std::string rtabmapNodeName_;
 
 	// odometry subscription stuffs
 	std::string frameId_;

include/rtabmap_ros/PreferencesDialogROS.h

@@ -36,7 +36,7 @@ using namespace rtabmap;
 class PreferencesDialogROS : public PreferencesDialog
 {
 public:
-	PreferencesDialogROS(const QString & configFile);
+	PreferencesDialogROS(const QString & configFile, const std::string & rtabmapNodeName);
 	virtual ~PreferencesDialogROS();
 
 	virtual QString getIniFilePath() const;
@@ -52,6 +52,7 @@ protected:
 
 private:
 	QString configFile_;
+	std::string rtabmapNodeName_;
 };
 
 #endif /* PREFERENCESDIALOGROS_H_ */