From 85b92b913ad3c0bc1c5f8664cf4f459d23332b44 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 26 Jul 2015 16:52:52 -0400
Subject: [PATCH] Added database_path argument to rgbd/stereo launch files
 (changed --delete_db_on_start by rtabmap_args argument)

---
 launch/rgbd_mapping.launch   | 6 ++++--
 launch/stereo_mapping.launch | 7 +++++--
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index 7ea0fb2a..50f07831 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -12,6 +12,8 @@
   <arg name="frame_id"                default="camera_link"/>   <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
   <arg name="time_threshold"          default="0"/>             <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
   <arg name="optimize_from_last_node" default="false"/>         <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
+  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
+  <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
    
   <arg name="rgb_topic"               default="/camera/rgb/image_rect_color" />
   <arg name="depth_registered_topic"  default="/camera/depth_registered/image_raw" />
@@ -56,12 +58,12 @@
     </node>
   
     <!-- Visual SLAM (robot side) -->
-    <!-- args: "delete_db_on_start" and "udebug" -->
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
       <param name="subscribe_depth"    type="bool"   value="true"/>
       <param name="subscribe_scan"     type="bool"   value="$(arg subscribe_scan)"/>
 	  <param name="frame_id"           type="string" value="$(arg frame_id)"/>
 	  <param name="wait_for_transform" type="bool"   value="$(arg wait_for_transform)"/>
+	  <param name="database_path"      type="string" value="$(arg database_path)"/>
 	
       <remap from="rgb/image"       to="$(arg rgb_topic)"/>
       <remap from="depth/image"     to="$(arg depth_registered_topic)"/>
diff --git a/launch/stereo_mapping.launch b/launch/stereo_mapping.launch
index 5161e975..30c28fbb 100644
--- a/launch/stereo_mapping.launch
+++ b/launch/stereo_mapping.launch
@@ -12,7 +12,9 @@
   <arg name="frame_id"                default="base_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
   <arg name="time_threshold"          default="0"/>             <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
   <arg name="optimize_from_last_node" default="false"/>         <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
-   
+  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
+  <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
+  
   <arg name="left_image_topic"        default="/stereo_camera/left/image_rect_color" />
   <arg name="right_image_topic"       default="/stereo_camera/right/image_rect" />      <!-- using grayscale image for efficiency -->
   <arg name="left_camera_info_topic"  default="/stereo_camera/left/camera_info" />
@@ -60,12 +62,13 @@
   
     <!-- Visual SLAM (robot side) -->
     <!-- args: "delete_db_on_start" and "udebug" -->
-    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
+    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
       <param name="subscribe_depth"     type="bool"   value="false"/>
       <param name="subscribe_stereo"    type="bool"   value="true"/>
       <param name="subscribe_scan"      type="bool"   value="$(arg subscribe_scan)"/>
 	  <param name="frame_id"            type="string" value="$(arg frame_id)"/>
 	  <param name="wait_for_transform"  type="bool"   value="$(arg wait_for_transform)"/>
+	  <param name="database_path"       type="string" value="$(arg database_path)"/>
 	
       <remap from="left/image_rect"        to="$(arg left_image_topic)"/>
       <remap from="right/image_rect"       to="$(arg right_image_topic)"/>