Fixed occupancy grid not reconstructed if it was not saved in previous run

src/CoreWrapper.cpp

@@ -478,6 +478,7 @@ void CoreWrapper::onInit()
 		cv::Mat map = rtabmap_.getMemory()->load2DMap(xMin, yMin, gridCellSize);
 		if(!map.empty())
 		{
+			NODELET_INFO("rtabmap: 2D occupancy grid map loaded.\n");
 			mapsManager_.set2DMap(map, xMin, yMin, gridCellSize, rtabmap_.getLocalOptimizedPoses());
 		}
 	}
@@ -647,6 +648,7 @@ CoreWrapper::~CoreWrapper()
 		cv::Mat pixels = mapsManager_.getGridMap(xMin, yMin, gridCellSize);
 		if(!pixels.empty())
 		{
+			printf("rtabmap: 2D occupancy grid map saved.\n");
 			rtabmap_.getMemory()->save2DMap(pixels, xMin, yMin, gridCellSize);
 		}
 	}

src/MapsManager.cpp

@@ -495,7 +495,7 @@ std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(
 										"save them back in the database for next sessions. This warning is only shown once.",
 										data.id(), Parameters::kRGBDCreateOccupancyGrid().c_str());
 							}
-							if(memory && occupancySavedInDB)
+							if(memory && occupancySavedInDB && generateGrid)
 							{
 								// if we are here, it is because we loaded a database with old nodes not having occupancy grid set
 								// try reload again