From b7d64182b6015db578eca2c6ce119c0ecfc98a6f Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 17 Jan 2018 22:56:11 -0500
Subject: [PATCH 1/2] Update demo_turtlebot_mapping.launch

Set "map_negative_poses_ignored" to avoid false obstacles when there is no scan reading (bug that will be fixed when devel will be merged).
---
 launch/demo/demo_turtlebot_mapping.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/launch/demo/demo_turtlebot_mapping.launch b/launch/demo/demo_turtlebot_mapping.launch
index 6d74e8be..ccd0458b 100644
--- a/launch/demo/demo_turtlebot_mapping.launch
+++ b/launch/demo/demo_turtlebot_mapping.launch
@@ -56,16 +56,17 @@
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg args)">
 	  <param name="database_path"       type="string" value="$(arg database_path)"/>
 	  <param name="frame_id"            type="string" value="base_footprint"/>
-	  <param name="odom_frame_id"       type="string" value="odom"/>
 	  <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
 	  <param name="subscribe_depth"     type="bool"   value="true"/>
 	  <param name="subscribe_scan"      type="bool"   value="true"/>
+	  <param name="map_negative_poses_ignored" type="bool" value="true"/>
 	
 	  <!-- inputs -->
 	  <remap from="scan"            to="/scan"/>
 	  <remap from="rgb/image"       to="$(arg rgb_topic)"/>
   	  <remap from="depth/image"     to="$(arg depth_topic)"/>
   	  <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
+	  <remap unless="$(arg rgbd_odometry)" from="odom" to="/odom"/>
   	  
   	  <!-- output -->
   	  <remap from="grid_map" to="/map"/>

From 457adfa3c1cc128c39ac34305bd16103a98f1b0e Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 18 Jan 2018 11:02:00 -0500
Subject: [PATCH 2/2] Update demo_turtlebot_mapping.launch

Min grid size set to 20 meters for convenience
---
 launch/demo/demo_turtlebot_mapping.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/launch/demo/demo_turtlebot_mapping.launch b/launch/demo/demo_turtlebot_mapping.launch
index ccd0458b..26fd5f80 100644
--- a/launch/demo/demo_turtlebot_mapping.launch
+++ b/launch/demo/demo_turtlebot_mapping.launch
@@ -85,7 +85,8 @@
 	  <param name="Rtabmap/TimeThr"              type="string" value="700"/>
 	  <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
 	  <param name="Optimizer/Slam2D"             type="string" value="true"/>
-	  <param name="Reg/Force3DoF"                type="string" value="true"/>   
+	  <param name="Reg/Force3DoF"                type="string" value="true"/>
+	  <param name="GridGlobal/MinSize"           type="string" value="20"/>
 	  
 	  <!-- localization mode -->
 	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>